JP2021533356A - Detector for determining the position of at least one object - Google Patents

Abstract

A detector (110) for determining the position of at least one object (112) is disclosed. The detector (110) — with at least one dichroic filter; — at least one photosensor (114), the photosensor (114) having at least one photosensitive area (116), said light. The sensor (114) is designed to generate at least one sensor signal in response to irradiation of its photosensitive area (116) by a light beam (120) that has passed through the dichroic filter (130). With one light sensor (114); —the first sensor signal generated in response to irradiation by the light beam (120) having at least one first wavelength and the light having at least one second wavelength. At least one evaluation device (134) configured to determine a second sensor signal generated in response to irradiation by the beam (120) from said first and second sensor signals. It has an evaluation device (134) configured to determine at least one longitudinal coordinate z of the object by evaluating the coupling signal Λ. [Selection diagram] Fig. 1

Description

The present invention relates to detectors and methods for determining the position of at least one object. The invention further relates to various uses of human machine interfaces, entertainment devices, tracking systems, cameras, scanning systems and detector devices for exchanging at least one information item between a user and a machine. The devices, systems, methods and uses according to the present invention are specifically, for example, everyday life, gaming, transportation technology, production technology, security technology, photography such as digital photography and video photography for art, documents or techniques. It can be adopted in various fields of purpose, medical technology, or science. Further, the present invention scans one or more objects and / or scenes, particularly for generating depth profiles of objects or scenes, for example in the fields of architecture, metrology, archeology, art, medicine, engineering or manufacturing. Can be used to However, other applications are possible.

A large number of detectors are known for detecting the position of at least one object, such as a detector that utilizes depth from focus technology, the detector utilizing triangulation. A new concept of distance measurement by photon ratio is described in WO2018 / 091649A1, WO2018 / 091638A1 and WO2018 / 091640A1, the contents of which are incorporated by reference.

GB20774221A describes a sensor system that senses displacement of the target surface from a reference plane. It is a branched light containing a light emitting fiber and a light receiving fiber used with a lens to project white light from a lamp onto a surface and then direct the reflected light to a light detecting means whose output is a function of displacement. Includes fiber. Different target reflectances are used, two sensor channels are used to determine the perception of displacement, and each sensor channel senses light in different wavelengths or wavelength bands with substantial spectral separation. The lens images the end face of the fiber on the surface and uses the light reflected from the target to form a secondary image on this end face, the reference plane being an average primary image plane of two wavelengths. Photodiodes sense red light, photodiodes sense blue light, and beam splitters and filters are used to separate the red and blue light components of the light from the fiber. The outputs are combined in either a differential amplifier or a proportional amplifier to produce a system output signal, the magnitude of which depends on the relative magnitude of the luminous flux of the two channels, so the magnitude is the reference. It is also a functional target displacement from surface I.

EP272001A2 is a light source unit configured to irradiate light of a plurality of wavelengths different in an oblique direction with respect to a measurement region of a planar object to be measured, so as to measure the spectral distribution of light reflected in the measurement region. The spectroscope constructed, the feature quantity extraction module configured to extract the feature quantity of the spectral distribution, the feature quantity extracted, and the displacement of the measurement area based on the relationship between the displacement and the previously acquired feature quantity. Describes a displacement sensor including a displacement calculation module configured to calculate.

Despite the advantages implied by the devices and detectors mentioned above, some technical challenges remain. In general, there is a need for a compact detector that can be manufactured at low cost and is configured to detect the position of an object in space. In particular, mobile applications such as the use of smartphones or other mobile devices require rapid, accurate and reliable detection of position with minimal computing power, which is a technical challenge. Determining the distance using the depth from the photon ratio technique, for example by using a quadrant diode, as disclosed in WO2018 / 091649A1, WO2018 / 091638A1 and WO2018 / 091640A1, allows for rapid distance determination. However, there may be restrictions on the irradiation and position of the light source, such as on-axis illumination and the fixed position of the light source, which can make implementation in mobile applications difficult. CMOS sensors can allow off-axis illumination, but the generation and evaluation of sensor signals is significantly slower and may require more computational power.

WO2018 / 091649A1 WO2018 / 091638A1 WO2018 / 091640A1 GB20774221A EP2720013A2

Therefore, an object of the present invention is to provide an apparatus and a method for the above-mentioned technical problems of a known apparatus and a method. Specifically, an object of the present invention is to provide an apparatus and method capable of reliably determining the position of an object in space, preferably with low technical effort and low requirements in terms of technical resources and costs. That is.

This problem is solved by the present invention having the characteristics of the independent claims. Advantageous developments of the invention, which can be realized individually or in combination, are set forth in the dependent claims and / or the following specification and detailed embodiments.

As used below, the terms "have", "provide", or "contain", or any grammatical variants thereof, are used in a non-exclusive manner. Thus, these terms refer to both situations where there are no additional features in what is described in this context, and situations where there is one or more additional features, in addition to the features introduced by these terms. obtain. As an example, the expressions "A has B", "A comprises B", and "A contains B" are situations in which there is no other element in A other than B (that is, A is exclusively). It can refer to both a situation consisting exclusively of B) and a situation in which one or more elements, such as elements C, elements C and D, or even elements, are present in the entity A in addition to B.

Further, the terms "at least one", "one or more", or similar expressions indicating that a feature or element may exist more than once, typically when introducing each feature or element. Please note that it is used only once. In the following, in most cases, the expression "at least one" or "one or more" is repeated, despite the fact that those features or elements appear more than once when referring to each feature or element. I can't.

Further, when used below, the terms "preferably", "more preferably", "especially", "more particularly", "specifically", "more specifically", or similar terms , Used with any feature without limiting the possibility of alternatives. Therefore, the features introduced by these terms are arbitrary features and are not intended to limit the scope of the claims in any way. The present invention can be practiced with alternative features, as will be appreciated by those skilled in the art. Similarly, features introduced "in one embodiment of the invention" or by similar expression were introduced without limitation with respect to alternative embodiments of the invention, without limitation with respect to the scope of the invention, and as such. It is intended to be any feature without limitation on the possibility of combining the feature with any other or non-arbitrary feature of the invention.

In the first aspect of the invention, a detector for determining the position of at least one object is disclosed. As used herein, the term "object" refers to a point or region that emits at least one light beam. The light beam illuminates the object directly or indirectly, for example by an object and / or by at least one source integrated or attached to the object emitting the light beam, or, for example, the object. The light beam may come from different sources, such as being reflected or scattered by an object. As used herein, the term "position" refers to at least one information item regarding the position and / or orientation of an object and / or at least a portion of the object in space. Thus, the at least one information item can indicate at least one distance between at least one point on the object and at least one detector. As will be described in more detail below, the distance may be vertical coordinates or may contribute to determining the vertical coordinates of the points of the object. Additional or alternative, one or more other information items regarding the position and / or orientation of the object and / or at least a portion of the object can be determined. As an example, it is also possible to further determine at least one lateral coordinate of the object and / or at least one part of the object. Thus, the position of an object can mean the vertical coordinates of the object and / or at least a portion of the object. Additional or alternative, the position of the object can mean at least one lateral coordinate of the object and / or at least a portion of the object. Additional or alternative, the position of an object can mean at least one directional information of the object that indicates the direction of the object in space.

This detector is:
-At least one dichroic filter;
-At least one optical sensor, wherein the optical sensor has at least one photosensitive area, and the optical sensor has at least one in response to irradiation of the photosensitive area by a light beam passing through the dichroic filter. Optical sensors designed to generate sensor signals;
-A first sensor signal generated in response to irradiation by a light beam having at least one first wavelength and a second sensor generated in response to irradiation by a light beam having at least one second wavelength. At least one evaluation device configured to determine a signal, the at least one longitudinal direction of the object by evaluating the coupled signal Λ from the first sensor signal and the second sensor signal. An evaluator configured to determine the coordinate z,
including.

As used herein, the term light generally refers to electromagnetic radiation in one or more of the visible spectrum range, the ultraviolet spectral range, and the infrared spectral range. There, the term visible spectral range generally refers to the spectral range of 380 nm to 780 nm. The term infrared spectral range generally refers to electromagnetic radiation in the range of 780 nm to 1 mm, preferably 780 nm to 3.0 micrometers. The term ultraviolet spectral range generally refers to electromagnetic radiation in the range of 1 nm to 380 nm, preferably in the range of 100 nm to 380 nm. Preferably, the light used in the present invention is visible light, i.e., light in the visible spectral range or in the near infrared range, eg, in the range of 780 nm to 1000 nm.

The term light beam generally refers to the amount of light emitted and / or reflected in a particular direction. Therefore, the light beam may be a bundle of rays having a predetermined spread in a direction perpendicular to the propagation direction of the rays. Preferably, the light beam is one or more of, for example, a beam waist, a Rayleigh length, or any other beam parameter or combination of beam parameters suitable for characterizing the deployment of a beam propagating in beam diameter and / or space. It can be or include one or more Gaussian light beams, such as a linear combination of Gaussian light beams, which can be characterized by one or more Gaussian beam parameters.

As used herein, the term "ray" generally refers to a line that is perpendicular to the wavefront of light that points in the direction of energy flow. As used herein, the term "beam" generally refers to a collection of rays. In the following, the terms "ray" and "beam" are used as synonyms. As used further herein, the term "light beam" generally refers to the amount of light, specifically the amount of light traveling in substantially the same direction, wherein the light beam has an extended or divergent angle. Including the possibility. The light beam can have a spatial extent. Specifically, the light beam can have a non-Gaussian beam profile. The beam profile may be selected from the group consisting of a trapezoidal beam profile; a triangular beam profile; a conical beam profile. The trapezoidal beam profile can have a plateau region and at least one edge region. As used herein, the term "beam profile" generally refers to the lateral intensity profile of a light beam. The beam profile can be a spatial distribution of the intensity of the light beam, especially in at least one plane perpendicular to the propagation of the light beam. The light beam can be a Gauss light beam or a linear combination of Gauss light beams, specifically, as outlined in more detail below. However, other embodiments are also possible. The transfer device may be configured for one or more of adjusting, defining and determining the shape of the beam profile, in particular the beam profile. As used further herein, a light spot generally refers to the visible or detectable circular or non-circular irradiation of an article, region, or object by a light beam.

The incident light beam may propagate from the object towards the detector. The incident light beam may be generated from the object by at least one source integrated or attached to the object and / or the object emitting the light beam, or another source, eg, the object. It may be generated from a source that irradiates directly or indirectly, in which case the light beam is reflected or scattered by the object, thereby at least partially directed at the detector. The irradiation source is, for example, an external irradiation source, an irradiation source integrated with a detector, or a beacon attached to an object, integrated with an object, or held by an object. It may be one or more of the irradiation sources integrated in the device, or may include them. Therefore, the detector may be used in active and / or passive irradiation scenarios. For example, the irradiation source may be adapted to illuminate an object, for example by directing a light beam, so that the object reflects the light beam. Additional or alternative, the object may be adapted to generate and / or emit at least one light beam. The light source may be at least one multi-beam light source or may include it. For example, the light source may include at least one laser source and one or more diffractive optical elements (DOEs). The source of irradiation may be adapted to illuminate the object via a dichroic filter.

The detector may include at least one source for irradiating the object. As an example, the irradiation source may be configured to generate an irradiation light beam for irradiating an object. The detector may be configured such that the illuminated beam propagates from the detector towards the object along the optical axis of the detector. To this end, the detector may include at least one reflective element, preferably at least one prism, to deflect the illuminated beam on the optical axis.

Specifically, the irradiation source may include at least one laser and / or a laser source. Various types of lasers such as semiconductor lasers can be adopted. Additional or alternative, non-laser light sources such as LEDs and / or light bulbs can be used. The irradiation source may be adapted to generate and / or project a group of points, for example, the irradiation source may be of at least one digital light processing projector, at least one LCOS projector, at least one spatial light modulator. One or more; at least one diffractive optical element; an array of at least one light emitting diode; one or more of an array of at least one laser light source may be included. The irradiation source is an artificial irradiation source, particularly at least one laser source and / or at least one incandescent lamp and / or at least one semiconductor light source, for example, at least one light emitting diode, particularly organic and / or inorganic light emitting diode. Can include. As an example, the light emitted by the irradiation source may have a wavelength of 300-1000 nm, particularly 500-1000 nm. Additional or alternative, light in the infrared spectroscopic region, such as light in the range of 780 nm to 3.0 μm, can be used. Specifically, light in the near-infrared region portion in the range of 700 nm to 1000 nm to which a silicon photodiode can be applied can be used. Due to their generally defined beam profile and other properties of handleability, the use of at least one laser source as an irradiation source is particularly preferred. The source of irradiation may be integrated into the housing of the detector.

The irradiation light beam may generally be parallel to the optical axis, or may be inclined with respect to the optical axis, including, for example, an angle with the optical axis. As an example, the irradiation light beam such as a laser light beam and the optical axis may include an angle of less than 10 °, preferably less than 5 °, more preferably less than 2 °. However, other embodiments are also possible. Further, the irradiation light beam may be on or off the optical axis. As an example, the irradiation light beam may be parallel to or coincide with the optical axis at a distance of less than 10 mm from the optical axis, preferably less than 5 mm from the optical axis, and even less than 1 mm from the optical axis. You may even.

As used herein, the expression "light beam has at least one wavelength" includes a monochromatic beam having each wavelength and / or multiple wavelengths, wherein at least one portion corresponds to the corresponding wavelength. Refers to a light beam having. The detector may include at least one source configured to illuminate the object with at least one light beam having at least two different wavelengths. For example, the irradiation source includes at least two light sources, the first light source is configured to generate at least one light beam having a first wavelength, and the second light source is a second wavelength different from the first wavelength. Can be configured to generate at least one light beam with. For example, the irradiation source may include at least one multi-wavelength light source. The source of irradiation may include at least one filter element configured to selectively generate light beams having different wavelengths. The irradiation source may be configured to pulse a light beam having a first wavelength and a light beam having a second wavelength having a different frequency.

The first wavelength and the second wavelength of the light beam may be different. Specifically, the difference between wavelengths, especially the difference between peaks, can be at least 1 nm, preferably at least 10 nm, more preferably at least 50 nm.

In addition, the source of irradiation can be configured to emit modulated or unmodulated light. When multiple sources are used, the different sources may have different modulation frequencies that can be used to distinguish the light beams. The source of irradiation may be configured to produce light with different characteristics such as color and / or modulation frequency. For example, the detector may include at least one modulator. The modulator can be configured to modulate at least one light beam produced by the irradiation source at two different frequencies. The modulator may be integrated into at least one light source and / or may be independent of the light source. Thus, at least one light source may itself be adapted to produce the above-mentioned modulation of the light beam and / or, for example, at least one chopper, and / or, for example, at least one electro-optic device and / Or there may be at least one independent modulator, such as at least one device having modulated transmissibility, such as at least one acoustic optics. The modulator may be integrated with the irradiation source, such as in the LED drive circuit.

The irradiation source may be a movable light source, particularly a freely movable light source. For example, the source of irradiation may include a movable laser, where the laser is not specifically connected fixedly to additional optical elements of the photosensor or detector, but is particularly mechanically connected. No. The detected laser spot may be controlled manually or automatically by moving the laser. For example, the irradiation source may be a beacon device. The beacon device can be moved manually and the optical sensor may be configured to detect the location of the light source. The range of movement may be laterally limited by the field of view of the detector optical system. In the vertical direction, the range of movement may depend on the measurement range of the detector.

The detector may include at least one transfer device. The term "transfer device," also referred to as a "transfer system," generally refers to light, such as by changing one or more of the beam parameters of the light beam, the width of the light beam, or one or more of the directions of the light beam. It can refer to one or more optical elements adapted to change the beam. The transfer device may be adapted to guide the light beam onto the light sensor. The transfer device is specifically: at least selected from the group consisting of at least one lens, eg, at least one focal adjustable lens, at least one aspherical lens, at least one spherical lens, at least one Fresnel lens. One lens; at least one diffractive optic; at least one concave mirror; at least one beam deflection element, preferably at least one mirror; at least one beam dividing element, preferably at least one of the beam dividing cubes or beam dividing mirrors. One; may include one or more of at least one multi-lens system. The transfer device can include at least one gradient index (GRIN) lens such as Grintech GmbH, Schillerstrasse 1,07745 Jena, a GRIN lens available from Germany. The GRIN lens may have a continuous index of refraction, such as an axial and / or radial and / or spherical index of refraction. The f-number of the GRIN lens may depend on the lens length. By using a GRIN lens, it is possible to reduce the size of the optical system, particularly to use a very thin optical system. For example, a very thin optical system with a thickness or diameter of 0.2 mm may be possible. The transfer device can include, for example, at least one annular axial lens having a torus shape. The annular axial lens may have a planar-convex shape, eg, axial and / or radial and / or spherical curvature.

The transfer device has at least one focal length in response to at least one incident light beam propagating from the object to the detector. As used herein, the term "focal length" of a transfer device refers to the distance at which incident parallel rays that may collide with the transfer device are focused on a "focal point", also known as a "focal point." Therefore, the focal length constitutes a measure of the transferor's ability to focus the colliding light beam. Thus, the transfer device can include one or more imaging elements that may have the effect of a focused lens. By way of example, the transfer device can have one or more lenses, in particular one or more refracting lenses, and / or one or more convex mirrors. In this example, the focal length can be defined as the distance from the center of the thin refracting lens to the principal focal point of the thin lens. For thin refracting lenses that focus, such as convex or biconvex thin lenses, the focal length is considered positive and the parallel light that collides with the thin lens as a transfer device is focused in a single spot. You can give the distance to get. Further, the transfer device can include at least one wavelength selection element, for example at least one optical filter. In addition, the transfer device may be designed to apply a predetermined beam profile to, for example, electromagnetic radiation at the location of the sensor area, particularly the sensor area. Any of the above embodiments of the transfer device can be realized, in principle, individually or in any desired combination.

The transfer device, particularly the focal length and numerical aperture NA, can be selected according to the measurement application. This makes it possible to achieve a higher dynamic range at smaller measurement intervals or a lower dynamic range at larger measurement intervals. The transfer device can have a numerical aperture of between 0.1 and 1.0, preferably between 0.2 and 0.9, more preferably between 0.3 and 0.8.

The transfer device may be adapted to adjust and / or change the propagation direction of the light beam. The transfer device may include at least one optical axis. The transfer device may be adapted to affect, for example, divert the light beam propagating from the object to the detector. In particular, the transfer device may be adapted to adjust the propagation direction of the light beam. The transfer device may be adapted to adjust and / or generate the angle of propagation with respect to the optical axis of the transfer device. The propagation angle may be the angle between the optical axis of the transfer device and the propagation direction of the light beam propagating from the object to the detector. Without a transfer device, the propagation angle of the light beam may largely depend on the properties of the object from which the light beam is produced, such as the surface and / or material properties of the object. The transfer device may be adapted to adjust and / or generate a propagation angle that does not depend on the surface properties of the object. The transfer device may be adapted to enhance and / or amplify the angular dependence of the propagation direction of the light beam. Although not bound by theory, the light beam generated by an object propagates from the object to the detector and is defined from 0 ° or the optical axis, from the scatter source on the object to the end of the transporter. Can collide with the transfer device in an angle range up to any angle X. Since the transfer device can include light collection characteristics, the angular range after passing through the transfer device can be significantly different from the original angular range. For example, a light beam that collides parallel to the optical axis can be focused on a focal point or focal point. Depending on the light collection characteristics of the transfer device, the angle dependence before colliding with the transfer device and after passing through the transfer device may be reversed. The transfer device may be adapted to amplify the angle dependence when the object is located in a distant field, i.e., at a distance where the light beam propagates substantially parallel to the optical axis. In general, when no transfer device is used, the angle dependence can be maximized in the near field region. In the near field, the signal can generally be stronger than the far field signal. Therefore, the smaller angle dependence in the near field by the transfer device that amplifies the angle dependence in the far field is due to the generally good signal-to-noise ratio in the near field and / or the distance dependence by the non-zero baseline. It can be compensated at least partially by using additional near-field characteristics such as sex spot movement.

The transfer device can have an optical axis. In particular, the detector and transfer device have a common optical axis. As used herein, the term "optical axis of a transfer device" generally refers to a mirror-symmetrical or rotationally symmetric axis of a lens or lens system. The optical axis of the detector can be a line of symmetry in the optical configuration of the detector. The detector comprises at least one transfer device, preferably at least one transfer system having at least one lens. The transfer system can include, by way of example, at least one beam path, and the elements of the transfer system within the beam path can be arranged rotationally or even symmetrically with respect to the optical axis. Further, as described in more detail below, one or more optics placed in the beam path may be off-center or tilted with respect to the optical axis. However, in this case, the optical axis may, for example, connect the centers of the optical elements in the beam path to each other, for example, the center of the lens, in this context the optical sensor is not counted as an optical element, but to each other. It can be defined sequentially by connecting. The optical axis can generally indicate the beam path. There, the detector can have a single beam path through which the light beam can travel from the object to the light sensor, or it can have multiple beam paths. As an example, a single beam path may be given, or the beam path may be split into two or more partial beam paths. In the latter case, each partial beam path can have its own optical axis. The transfer device can contain a significant mass of C, Si, or Ca, preferably at least 20% by weight of C, Si, or Ca, more preferably at least 27% by weight of C, Si, or Ca.

The transfer device can form a coordinate system, where the vertical coordinates l are the coordinates along the optical axis and d is the spatial offset from the optical axis. The coordinate system may be a polar coordinate system in which the optical axis of the transfer device forms the z-axis and the distance and polar angle from the z-axis can be used as additional coordinates. The direction parallel to or antiparallel to the z-axis can be considered as the vertical direction, and the coordinates along the z-axis can be considered as the vertical coordinates l. Any direction perpendicular to the z-axis can be thought of as the lateral direction, and polar coordinates and / or polar coordinates can be thought of as the lateral coordinates.

As used herein, the term "dichroic filter" refers to an optical color filter, specifically an interference color filter. The dichroic filter may have wavelength-dependent and angle-dependent transmission spectra. Electromagnetic waves that collide with a first aspect, such as the surface of a dichroic filter, can be partially absorbed and / or reflected and / or transmitted, depending on the characteristics of the dichroic filter. The total output of the electromagnetic wave colliding with the dichroic filter can be distributed by the dichroic filter to at least three components, namely an absorption component, a reflection component and a transmission component. The transmittance can be defined as the output of the transmission component normalized by the total output of the electromagnetic wave colliding with the dichroic filter. Absorption rate can be defined as the output of the absorption component normalized by the total output of the electromagnetic wave colliding with the dichroic filter. The reflectance can be defined as the output of the reflective component normalized by the total output of the electromagnetic wave colliding with the dichroic filter. The term "absorption" refers to a decrease in the output and / or intensity of an incident light beam due to a dichroic filter. As used herein, the term "transmissive" refers to a portion of a half-space measurable electromagnetic wave outside the dichroic filter that has an angle of 90 ° or more with respect to the optical axis. For example, the transmission may be the rest of the electromagnetic wave that collides with the first side surface of the dichroic filter, penetrates the dichroic filter, and separates the dichroic filter from the second side surface, eg, the opposite side surface. The term "reflection" refers to a portion of an electromagnetic wave that can be measured in a half-space outside the dichroic filter and having an angle of less than 90 ° with respect to the optical axis. For example, the reflection may be a change in the direction of the wavefront of the incident light beam due to the interaction with the dichroic filter. As used herein, the term "transmission" further refers to the efficiency of the dichroic filter in transmitting radiant energy, in particular part of the incident electromagnetic force of the incident light beam passing through the dichroic filter. As used herein, the term "transmission spectrum" refers to transmission as a function of wavelength. As used herein, the term "wavelength-dependent transmission spectrum" refers to the properties of a dichroic filter that selectively filters light of different wavelengths. The dichroic filter may be configured such that light having a first wavelength passes through the dichroic filter and light having a second wavelength is filtered. Most of the non-transmitted wavelengths can be filtered.

The dichroic filter may be an interference filter having a high angle dependence. Angle dependence can be defined for cut-on / cut-off wavelengths, specifically cut-on or cut-off wavelengths at which the transmission of the filter switches from transparent to opaque. The cut-on / cut-off wavelength can be defined as the wavelength at which the transmission curve is the average of the average opaque transmission coefficient and the average transparency transmission coefficient. Angle dependence can be defined as a shift in cut-on / or cut-off wavelength when the filter is rotated from a plane orthogonal to the optical axis by 30 ° about an axis orthogonal to the optical axis. The dichroic filter can have an angle dependence of 5 nm / 30 ° to 100 nm / 30 °, preferably 7 nm / 30 ° to 80 nm / 30 °, more preferably 9 nm / 30 ° to 50 nm / 30 °. .. In contrast, optical applications typically use and require low angle-dependent, preferably non-angle-dependent interference filters.

The dichroic filter can be an interference filter on a flat substrate, eg glass, specifically designed for orthogonal angles of incidence. The changing angle of incidence results in changing transmission characteristics. The angle dependence may be radially symmetric about the optical axis. In contrast, beam splitters, including dichroic mirrors, are designed for non-orthogonal angles of incidence, most often 45 °. Incident angles other than the design angle not only change the spectral characteristics, but also the reflection angle and transmission angle. Moreover, the angle-dependent transmittance is not radial symmetry with respect to the optical axis. Dichroic mirrors are generally beam splitters for different wavelengths. They reflect certain wavelength regions and transmit other regions. In contrast, the invention uses at least two wavelengths for measurement and can function with a single detector. Beam splitting requires multiple detectors to capture both wavelengths, which is a disadvantage, especially given the bulky structure and additional costs associated with multiple detectors and the like. Furthermore, the present invention utilizes the changing transmission characteristics of the interference filter with changes in the angle of incidence for the selected wavelength. The reflection angle and transmission angle that change in the dichroic mirror with the changing incident angle cause an asymmetric effect. Therefore, dichroic mirrors cannot be employed for measurements where radial symmetry is essential, such as tracking active targets in a 3D coordinate system.

As the dichroic filter, any one of a long pass, a short pass, a band pass, and a notch filter can be adopted. Advantageously, the manufacturing technique allows interference filters with high angle dependence to have high temperature stability. Dichroic filters can be optimized for tracking applications by varying the slope of the cut-on and / or cut-off gradient, and the angle dependence. Dichroic filters are designed so that the transmission characteristics of the filter vary for both wavelengths as a function of the angle of incidence, for example by appropriately selecting the cut-on and cut-off wavelengths of the bandpass filter or notch filter. good. The dichroic filter is designed so that, for example, by appropriately selecting the cut wavelength of the edge filter, the transmission characteristics of one wavelength change with the change of the incident angle, and the transmission characteristics of the other wavelength remain the same. can do. Dichroic filters should be designed so that the transmittance of the filter for the first wavelength increases as the angle of incidence increases with increasing distance, while the transmittance for the second wavelength remains high and the same. Can be done. Therefore, at longer distances with lower light intensity, maximum transmittance can be achieved for both wavelengths. The dichroic filter may be arranged orthogonally or substantially orthogonally to the optical axis. The dichroic filter may be arranged parallel to or substantially parallel to the transfer device.

The dichroic filter may have an angle-dependent transmission spectrum. As used herein, the term "angle-dependent transmission spectrum" refers to the fact that the transmittance of a dichroic filter depends on the angle of incidence at which the incident light beam collides with the dichroic filter. For example, the transmittance may depend on the angle of incidence at which the incident light beam propagating from the object towards the detector collides with the dichroic filter. The angle of incidence may be measured with respect to the optical axis of the dichroic filter. The dichroic filter may be placed in the propagation direction behind the transfer device. The dichroic filter and the transfer device may be arranged so that the light beam propagating from the object to the detector passes through the transfer device before colliding with the dichroic filter. The dichroic filter may be arranged such that the light beam propagating from the object to the detector collides with the dichroic filter between the transfer device and the focal point of the transfer device. By using at least one transfer device, the robustness of the vertical coordinate measurement can be further enhanced. The transfer device may include, for example, at least one collimating lens. Dichroic filters can be designed to weaken light rays that are incident at a larger angle than light rays that are incident at a smaller angle. For example, the transmittance may be highest at light rays parallel to the optical axis, i.e. 0 °, and may decrease at higher angles. In particular, at at least one cutoff angle, the transmittance can drop sharply to zero. Therefore, light rays with a large angle of incidence can be cut off.

For example, a dichroic filter is one in which the light beam passes through the dichroic filter when it collides with the dichroic filter within a transmission angle or wavelength range, and light when the light beam collides with a deviation angle or wavelength range. It can have a transmission spectrum such that the beam is filtered. For example, if the light beam collides substantially parallel to the optical axis of the dichroic filter, the light beam can pass through the dichroic filter, and if the light beam collides under a deviating angle of incidence. The light beam can be filtered. As used herein, the term "substantially parallel to the optical axis of the dichroic filter" refers to, for example, a tolerance of ± 5 ° or less, preferably a tolerance of ± 3 ° or less, more preferably ±. Refers to a parallel oriented state with a margin of error of 1 ° or less. "0 ° incident angle" means parallel to the optical axis.

As outlined above, the transmission spectrum of the dichroic filter may be wavelength dependent and angle dependent. For example, the transmission spectrum can pass if the light beam having the first wavelength collides substantially parallel to the optical axis of the dichroic filter, and the light beam having the second wavelength is, for example, 30. For collisions at larger angles such as °, it may be selected to allow it to pass through the dichroic filter. The transfer device and the dichroic filter may be arranged so that the light beam propagating from the object to the detector propagates through the transfer device before colliding with the dichroic filter. For example, for an object near the focal point of the transfer device, also known as near field, the light beam behind the transfer device is mostly parallel to the optical axis, and the first transmission spectrum is applied to the light beam with a dichroic filter. Well, for example, the first wavelength can pass, but the second wavelength can be mostly filtered. For example, for a distant object, also called a distant field, the light beam reaches the transfer device substantially parallel to the optical axis of the transfer device and is focused behind the transfer device towards the focal point. Thus, these light beams may have a larger angle with respect to the optical axis of the dichroic filter, and different transmission spectra may be applied to the light beam in the dichroic filter, eg, the second wavelength can pass through. The first wavelength can be mostly filtered.

The dichroic filter may be placed behind the transfer device in the direction of propagation of the incident light beam propagating from the object to the detector. The dichroic filter and the transfer device may be arranged so that the incident light beam propagating from the object to the detector passes through the transfer device before colliding with the dichroic filter. The transfer device and the dichroic filter may be spatially separated and arranged, for example, offset in a direction perpendicular to the optical axis. The dichroic filter may be arranged so that the light beam propagating from the object to the detector collides with the dichroic filter between the transfer device and the focal point of the transfer device. For example, the distance between the transfer device and the position where the light beam propagating from the object to the detector collides with the dichroic filter is at least 20% of the focal length, more preferably at least 50% of the focal length, most preferably the focal length. It may be at least 80% of.

As used herein, the term "optical sensor" generally refers to a photosensitizer for the detection of a light beam, eg, the irradiation and / or the detection of a light spot produced by at least one light beam. As further used herein, "photosensitive area" generally refers to an area of an optical sensor that is externally irradiated by at least one light beam and produces at least one sensor signal in response to that irradiation. .. The photosensitive area may be specifically located on the surface of the optical sensor. However, other embodiments are also possible. Thus, the term "optical sensor" further refers to a photosensitizer configured to generate one output signal, wherein a photodetector configured to generate two or more output signals, eg, a photodetector. At least one CCD and / or CMOS device is referred to as two or more optical sensors.

As used further herein, "sensor signal" generally refers to a signal generated by an optical sensor in response to irradiation by an optical beam. Specifically, the sensor signal can be at least one electrical signal, such as at least one analog electrical signal and / or at least one digital electrical signal, or can include them. More specifically, the sensor signal can be at least one voltage signal and / or at least one current signal, or can include them. More specifically, the sensor signal may include at least one photocurrent. In addition, unprocessed sensor signals may be used, or detectors, optical sensors, or other elements may be adapted to process or preprocess the sensor signals, such as preprocessing, such as by filtering. It is possible to generate a secondary sensor signal that can also be used as a sensor signal.

The photosensitive area may be oriented towards the object. As used herein, the term "directed to an object" generally refers to the condition in which each surface of the photosensitive area is completely or partially visible to the object. Specifically, at least one interconnect line between at least one point on the object and at least one point in the photosensitive area is at an angle different from 0 ° with the surface element of the photosensitive area, eg, 20 ° to 90 °. Angles in the range of, preferably angles in the range of 80 ° to 90 °, such as 90 °, can be formed. Thus, if the object is on or near the optical axis, the light beam propagating from the object towards the detector can be substantially parallel to the optical axis. As used herein, the term "substantially vertical" refers to a vertically oriented condition with a tolerance of, for example, ± 20 ° or less, preferably ± 10 ° or less, more preferably ± 5 ° or less. .. Similarly, the term "substantially parallel" refers to a state of parallel orientation with a tolerance of, for example, ± 20 ° or less, preferably ± 10 ° or less, more preferably ± 5 ° or less. Additional or alternative, at least one of the photosensitive areas may be oriented differently from the orientation towards the object. For example, the optical sensor may be oriented with respect to the object, perpendicular to the optical axis or at any angle. The dichroic filter may be configured to generate a light beam such that the light beam collides with the photosensitive area. For example, if the photosensitive area is oriented at any angle with respect to the optical axis, the detector may include at least one optical element configured to direct the light beam to the photosensitive area. The dichroic filter may be arranged substantially parallel to the photosensitive area.

Optical sensors may have sensitivity in one or more of the ultraviolet, visible, or infrared spectral ranges. Specifically, the optical sensor may have sensitivity in the visible spectral range of 500 nm to 780 nm, most preferably 650 nm to 750 nm, or 690 nm to 700 nm. Specifically, the optical sensor may have sensitivity in the near infrared region. Specifically, the photosensor may have sensitivity, especially in the near infrared region in the range of 700 nm to 1000 nm to which a silicon photodiode can be applied. The optical sensor may have sensitivity specifically in the infrared spectral range, specifically in the range of 780 nm to 3.0 μm. For example, the photosensor may be, or may include, at least one element selected from the group consisting of photodiodes, photocells, photoconductors, phototransistors or any combination thereof. Any other type of photosensitive element may be used. As outlined in more detail below, photosensitive elements can generally be made entirely or partially from inorganic materials and / or completely or partially from organic materials. be able to. Most commonly, one or more photodiodes on the market, such as, for example, inorganic semiconductor photodiodes, may be used, as outlined below in more detail.

Specifically, the optical sensor can be a semiconductor sensor, preferably an inorganic semiconductor sensor, more preferably a photodiode, and most preferably a silicon photodiode. Therefore, the present invention can be realized simply by using a commercially available inorganic photodiode, that is, one small photodiode and one large area photodiode. As described above, the configuration of the present invention can be realized by an inexpensive and inexpensive method. Specifically, the optical sensor has sensitivity in the infrared spectral range, preferably in the range of 780 nm to 3.0 μm, and / or in the visible spectral range, preferably in the range of 380 nm to 780 nm. It can be a diode or can include them. Specifically, the photosensor may have sensitivity in the near infrared region, especially in the range of 700 nm to 1000 nm to which a silicon photodiode is applicable. The infrared light sensor that can be used in the optical system may be a commercially available infrared light sensor, for example, red marketed under the brand name Hertzstuck® from TrinamiX GmbH, D-67056 Ludwigshafen am Rhein in Germany. It may be an external light sensor. Therefore, as an example, the photosensor is a unique photoelectrostatic at least one photosensor, more preferably a Ge photodiode, an InGaAs photodiode, an extended InGaAs photodiode, an InAs photodiode, an InSb photodiode, an HgCdTe photodiode, It may include at least one semiconductor photodiode selected from the group consisting of. Additional or alternative, the photosensor is at least one photosensor of extrinsic optoelectronic type, more preferably Ge: Au photodiode, Ge: Hg photodiode, Ge: Cu photodiode, Ge: Zn photodiode. It may include at least one semiconductor photodiode selected from the group of diodes, Si: Ga photodiodes, Si: As photodiodes. Additional or alternative, the optical sensor may include at least one photoconductive sensor, such as a bolometer selected from the group consisting of a PbS sensor or a PbSe sensor, a bolometer, preferably a VO bolometer and an amorphous Si bolometer. The optical sensor may be opaque, transparent or translucent. However, for simplicity, since these opacity sensors are generally widely available on the market, opacity sensors that are not transparent to the light beam can be used. The optical sensor can be specifically a uniform sensor with a single photosensitive area. Therefore, the optical sensor can specifically be a non-pixelated optical sensor.

As further used herein, the term "evaluator" is generally more preferably by using at least one data processing device, more preferably at least one processor and / or at least one particular application. Refers to any device configured to perform a specified operation by using a directed integrated circuit. Thus, as an example, at least one evaluation device can include at least one data processing device having software code stored therein that includes a large number of computer commands. The evaluator may provide one or more hardware elements to perform one or more specified operations and / or to perform one or more specified operations. , The software that runs there may be provided to one or more processors.

The evaluation device is a first sensor signal generated in response to irradiation by a light beam having at least one first wavelength and a first sensor signal generated in response to irradiation by a light beam having at least one second wavelength. It is configured to determine the 2 sensor signals. As mentioned above, light beams with first and second wavelengths may be generated at different frequencies or pulsed and / or subsequently generated and / or. It may be modulated at a different modulation frequency. The evaluation device is configured to determine at least one longitudinal coordinate z of the object by evaluating the coupling signals Λ from the first and second sensor signals. As used herein, the term "coupling signal Λ" refers to, in particular, dividing the first and second sensor signals by combining the first and second sensor signals, first and second. Refers to a signal produced by one or more of dividing a multiple of the second sensor signal or dividing the linear coupling of the first and second sensor signals. In particular, the coupling signal Λ may be a quotient signal. The coupling signal Λ can be determined using various means. As an example, software means for deriving the coupled signal, / or hardware means for deriving the coupled signal may be used, or may be implemented in an evaluation device. Thus, the evaluator may include, by way of example, at least one divider, which is configured to derive the quotient signal. The divider may be fully or partially embodied as one or both of a software divider and a hardware divider. The evaluator is one of dividing the first and second sensor signals, dividing multiples of the first and second sensor signals, and dividing the linear coupling of the first and first sensor signals. One or more may be configured to derive the coupling signal Λ. The evaluation device may be configured to determine the first radiant intensity of the first sensor signal and the second radiant intensity of the second sensor signal. The evaluator may be configured to determine the ratio of the first radiant intensity to the second radiant intensity for deriving the coupling signal Λ. Other coupled or quotient signals, such as normalized radiant intensity ratios, are possible. Thus, the relationship between at least two wavelengths that have passed through the dichroic filter depends on the distance between the object and the optical sensor. Only a single optical sensor is needed. The detector can include a plurality of optical sensors such as a bicell partial diode, a split electrode PSD or quadrant diode, and / or a CMOS sensor. In this case, in order to determine the coupling signal Λ, the evaluator can determine the perfect optical spot on the optical sensor, such as the sum signal of the signals of the optical sensor. Alternatively, to determine the coupling signal Λ, the evaluator can use the signals generated by the same sensor area for the first and second sensor signals.

The above operations, including determining at least one longitudinal coordinate of an object, are performed by at least one evaluator. Thus, as an example, one or more of the above relationships may be implemented in software and / or hardware, for example by implementing one or more look-up tables. Thus, as an example, an evaluator is an application specific integrated circuit (ASIC), one or more computers configured to perform the evaluation described above in order to determine at least one longitudinal coordinate of an object. , Field Programmable Gate Array (FPGA) or Digital Signal Processor (DSP), etc., can be equipped with one or more programmable devices. However, additionally or alternatively, the evaluator may also be fully or partially embodied by hardware.

The detector may further include one or more additional elements, such as one or more additional optical elements. Further, the detector may be fully or partially integrated into at least one housing.

Determining the longitudinal coordinate z using the coupling signal Λ can be combined with additional distance measurement techniques such as one or more techniques based on depth from photon ratio, flight time, triangulation, and depth from defocus. .. Specifically, the determination of the longitudinal coordinate z using the coupling signal Λ can be combined with a non-wavelength dependent distance measurement technique.

For example, the determination of the longitudinal coordinate z using the coupling signal Λ is the depth from photon ratio (DPR), as described, for example, in WO2018 / 091649A1, WO2018 / 091638A1 and WO2018 / 091640A1. It can be combined with technical distance measurements, the content of which is included by reference. The detector may include at least two optical sensors. Each optical sensor may have at least one photosensitive area. Each of the optical sensors may be designed to generate at least one sensor signal in response to irradiation of the respective photosensitive area by a light beam that has passed through a dichroic filter. At least one of the optical sensors may be configured to generate a first DPR sensor signal and at least one of the optical sensors may be configured to generate a second DPR sensor signal. The term "DPR sensor signal" refers to a sensor signal used to determine distance using depth techniques from photon ratios. Specifically, the first DPR sensor signal and the second DPR sensor signal may be signals corresponding to a portion or a cut of the beam profile. The evaluation device may be configured to determine _{the vertical coordinates z DPR} of the object by evaluating the coupled DPR signals Q from the first and second DPR sensor signals.

As used herein, the term "combined DPR signal Q" specifically divides the first and second DPR sensor signals by combining the first and second DPR sensor signals. Refers to a signal produced by one or more of doing, dividing a multiple of the first and second DPR sensor signals, or dividing the linear alignment of the first and second DPR sensor signals. .. Specifically, the coupled DPR signal may be a quotient signal. The coupled DPR signal Q may be determined using various means. As an example, software means for deriving the coupled DPR signal, hardware means for deriving the coupled DPR signal, or both may be used and may be implemented in the evaluation device. Thus, the evaluator may include, by way of example, at least one divider, which is configured to derive the coupled DPR signal. The divider may be fully or partially embodied as one or both of a software divider and a hardware divider.

The evaluator divides the first and second DPR sensor signals, divides the multiples of the first and second DPR sensor signals, and divides the linear coupling of the first and second DPR sensor signals. One or more of them may be configured to derive the coupled DPR signal Q. Each of the first and second sensor signals may contain at least one piece of information in at least one area of the beam profile of the light beam that has passed through the dichroic filter. The beam profile may be selected from the group consisting of a trapezoidal beam profile; a triangular beam profile; a linear combination of a conical beam profile and a Gaussian beam profile. For example, the evaluation device is configured to derive the combined DPR signal Q by the following mathematical formula 1.

Here, x and y are lateral coordinates, A1 is the first area of the beam profile at the sensor position of the light sensor of the light beam that has passed through the dichroic filter, and A2 is the light beam that has passed through the dichroic filter. It is the second area of the beam profile at the sensor position of the optical sensor, where E (x, y, z _o ) represents the beam profile given by the object distance z _o. At least one of the first DPR sensor signal and the second DPR sensor signal can contain information in the first area of the beam profile and the other can contain information in the second area of the beam profile. For example, the first DPR sensor signal can include information in the first area of the beam profile and the second DPR sensor signal can include information in the second area of the beam profile. The first area of the beam profile and the second area of the beam profile may be either adjacent areas or overlapping areas, or both. Area A1 and area A2 may be different. In particular, A1 and A2 do not match. Therefore, A1 and A2 may differ in one or more of the shapes or contents. The beam profile may be a cross section of the light beam. In general, the beam profile depends on the luminance L ( _zo ) and the beam shape S (x, y; z _o ), and E (x, y; z _o ) = L · S. By deriving the coupled DPR signal in this way, the vertical coordinates independent of the luminance can be determined. Further, by using the combined signal, it can be determined independently of the distance z ₀ from the size of the object. Thus, the coupling signal is independent of the material and / or reflection and / or scattering properties of the object and, for example, changes in the light source due to manufacturing accuracy, heat, moisture, dirt, lens damage, etc. In addition, it makes it possible to determine the _{distance z 0.} As used herein, the term "beam profile area" generally refers to any area of the beam profile at the sensor position used to determine the coupled DPR signal Q.

One of the first and second areas of the beam profile may contain substantially edge information of the beam profile, and the other of the first and second areas of the beam profile may contain substantially center information of the beam profile. May include. For example, the first area of the beam profile may contain substantially edge information of the beam profile and the second area of the beam profile may contain substantially center information of the beam profile. The beam profile may have a center, i.e. the maximum value of the beam profile and / or the geometric center of the plateau of the beam profile and / or the geometric center of the light spot, and a falling edge extending from the center. The second region may include an inner region of the cross section and the first region may include an outer region of the cross section. As used herein, the term "substantially central information" generally refers to the proportion of central information, i.e., the proportion of edge information being low compared to the proportion of intensity distribution corresponding to the center. It means that the ratio of the intensity distribution corresponding to the edge is low. Preferably, the center information has a proportion of edge information of less than 10%, more preferably less than 5%, and most preferably the center information does not include edge content. As used herein, the term "substantially edge information" generally refers to a lower proportion of central information as compared to a proportion of edge information. The edge information may include information from the entire beam profile, especially from the central and edge regions. The edge information has a proportion of the center information of less than 10%, preferably less than 5%, and more preferably the edge information does not include the center information. If the beam profile is near or around the center and contains substantially center information, then at least one area of the beam profile may be determined and / or selected as the second area of the beam profile beam profile. If the beam profile includes at least a portion of the falling edge of the cross section, then at least one area of the beam profile may be determined and / or selected as the first area of the beam profile. For example, the entire area of the cross section may be determined as the first area. The first area of the beam profile may be the area A2, and the second area of the beam profile may be the area A1.

The edge information can include information about the number of photons in the first area of the beam profile, and the center information can include information about the number of photons in the second area of the beam profile. The evaluator may be adapted to determine the surface integral of the beam profile. The evaluator may be adapted to determine edge information by integration and / or addition in the first area. The evaluator may be adapted to determine the center information by integration and / or addition in the second area. For example, the beam profile may be a trapezoidal beam profile and the evaluator may be adapted to determine the integral value of the trapezoid. In addition, if a trapezoidal beam profile is envisioned, the characteristics of the trapezoidal beam profile, such as the slope and position of the edges, as well as the determination of the height of the central plateau, can be used to replace the edge and center signal determinations by equivalence evaluation. It can be, and the edge and center signals can be derived by geometric consideration.

Additional or alternative, the evaluator may be adapted to determine one or both of the center information or edge information from at least one slice or cut of the light spot. This can be achieved, for example, by replacing the surface integral of the coupled DPR signal Q with a line integral along the slice or cut. To improve accuracy, multiple slices or cuts through the light spot may be used for averaging. In the case of elliptical spot profiles, averaging over multiple slices or cuts may provide improved distance information.

The evaluator combines the combined DPR signal Q by one or more of dividing the edge information and the center information, dividing the edge information and the multiple of the center information, and dividing the linear combination of the edge information and the center information. May be configured to derive. Thus, in essence, the photon ratio may be used as the physical basis for the depth from the photon ratio.

The evaluation device may be configured to determine the ratio of _{the first DPR sensor signal I 1} to the second DPR sensor signal I ₂ in order to derive the coupled DPR signal Q. As an example, Q may be easily determined as follows.

Q = I ₁ / I ₂
Or Q = I ₂ / I ₁
In addition or alternatively, Q may be determined as follows.

Q = aI ₁ / bI ₂
Or Q = bI ₂ / aI ₁

Here, a and b are, as an example, predetermined or decidable real numbers. In addition or alternatively, Q may be determined as follows.

Q = (aI ₁ + bI ₂ ) / (cI ₁ + dI ₂ )

Here, a, b, c, and d are, as an example, predetermined or determinable real numbers. As a simple example of the latter, Q may be determined as follows.

Q = I ₁ / (I ₁ + I ₂ )

Typically, in the above configuration, Q is a monotonic function of the size of the light spot, such as the vertical coordinates of the object and / or the diameter or equivalent diameter of the light spot. Thus, as an example, the quotient Q is a monotonically decreasing function of the size of the light spot, especially when a linear light sensor is used. We do not want to be bound by this theory, but this is because in the above configuration, the amount of light reaching the detector is reduced, so as the distance to the light source increases, both _{I 1} and I _{2 become.} This is believed to be due to the fact that it decreases as a squared function. _{However, there, the first DPR sensor signal I 1} is the second DPR sensor signal because in the optical configuration as used in the experiment, the light spots in the image plane increase and spread over a larger area. It decreases more rapidly than I _2. The quotient therefore decreases continuously with increasing diameter of the light beam or diameter of the light spot on the photosensitive area. The quotient is also largely independent of the total output of the light beam, as the total output of the light beam forms a factor in both the first and second sensor signals. As a result, the quotient Q can form a secondary signal that provides a unique and clear relationship between the first and second sensor signals and the size or diameter of the light beam. On the other hand, the size or diameter of the light beam depends on the distance between the object itself, that is, the vertical coordinates of the object, from which the incident light beam exits and propagates toward the detector. There may be a unique and clear relationship between the sensor signal of 2 and the vertical coordinates. The evaluator may be configured to use at least one predetermined relationship between the coupled DPR signal Q and the longitudinal coordinates to determine the longitudinal coordinates. For the latter, one or more of the above prior art documents such as WO2014 / 097181A1 can be referred to. The given relationship is derived from it by analytical considerations, such as assuming a linear combination of Gaussian light beams, for example a measurement measuring the first and second sensor signals, or as a function of the longitudinal coordinates of the object. It can be determined by empirical measurements such as secondary signals, or both.

As mentioned above, if the detector includes a plurality of optical sensors, the coupled DPR signal can be determined in addition to the wavelength dependent coupled signal Λ. In order to determine the wavelength-dependent coupling signal Λ, as described above, the quotient of the wavelength-dependent first sensor signal and the wavelength-dependent second sensor signal is determined. As an example, for example a first sensor signal for a red wavelength and, for example, a second sensor signal for a blue wavelength can be generated by the same sensor area S1 such that the _{quotient is red S1} / blue _S1. As an example, the first sensor signal for, for example, a red wavelength and the second sensor signal, for example, for a blue wavelength, are determined by the sum of all sensor areas of the optical sensor such that the quotient is Σred / Σblue. .. Further, in order to determine the coupled DPR signal, the quotient of the signals generated by two different sensor areas, eg S1 and S2, may be determined as described above. One or both of the sensor signals for the combined DPR signal is determined by the combined DPR signal being red _S1 / red _S2 or blue _S1 / blue _S2 or (red _S1 + blue _S1 ) / (red _S2 + blue _S2 ) or a combination thereof. It may be the sum of two wavelength dependent signals so that it can be done.

In addition to the wavelength-dependent coupled signal Λ, the determination of the coupled DPR signal allows independent determination of the two longitudinal coordinates using different measurement techniques. The combination of wavelength-dependent coupling signal Λ determination and DPR technology is particularly advantageous because the same detector configuration can be used for both measurements. The evaluation device may be configured to compare the vertical coordinates z with the z _DPR. The evaluation device may be configured to determine the difference between the vertical coordinates z and z _DPR. The evaluator may be adapted to generate and issue a warning and / or reject a measurement if the longitudinal coordinates z and z _{DPR differ by more than a predetermined threshold.} The evaluator may be adapted to determine the average value of the longitudinal coordinates z and z _DPR. The detector may be configured to determine the longitudinal coordinate z and / or the longitudinal coordinate z _{DPR depending on the measurement range.} For example, the detector may be configured to determine the longitudinal coordinate z in the first measurement range and the longitudinal coordinate z _{DPR in the second measurement range.} As a result, the reliability of distance determination can be improved and the measurement range can be expanded. Further, for determining the vertical coordinate z, for example, two irradiation sources may be used, the first irradiation source is configured to generate a light beam of the first wavelength, and the second irradiation source is the first wavelength. It may be configured to generate a light beam of a second wavelength different from that of. Determining the longitudinal coordinate z _DPR makes it possible to detect defects or failures in one source, while at the same time making it possible to determine the distance even if there is a defect in one source.

The detector may include a small baseline. Specifically, the baseline can be the distance between at least one irradiation channel and at least one receiver channel of the detector. Specifically, the distance, eg, the distance between at least one irradiation channel and at least one receiver channel in the xy plane, may be as small as possible. As used herein, the term "irradiation channel" is adapted such that at least one light irradiation fiber produces at least one irradiation light beam to irradiate at least one object. Refers to at least one optical channel containing at least one source and / or at least one light emitting element. The irradiation channel may include at least one transmission optical system, such as at least one irradiation source and at least one lens element. As used herein, the term "receiver channel" refers to at least one optical channel that includes at least one optical element adapted to receive a light beam propagating from an object to the detector. The receiver channel may include at least one transfer device and at least one receiving optical system such as at least one dichroic filter and an optical sensor. The baseline, i.e., the distance between the irradiation channel and the receiver channel may be the minimum distance. The minimum distance may only depend on the size of the components of the transmit and receive optics. The minimum distance may be zero. In particular, the distance between the irradiation source and the optical sensor perpendicular to the optical axis of the detector may be small. The distance perpendicular to the optical axis of the detector between the irradiation source and the optical sensor may be less than 0.1 m, preferably less than 0.05 m, more preferably less than 0.025 m. In particular, the distance perpendicular to the optical axis of the detector between the irradiation source and the optical sensor can be less than 0.01 m, preferably less than 0.005 m, more preferably less than 0.0025 m. In particular, the distance between the detector and the irradiation source may be less than 150% of the diameter of the transfer device, preferably less than 110% of the diameter of the transfer device, more preferably less than 100% of the diameter of the transfer device. Embodiments with zero baseline are possible. The source and optical axis can be separated by a small baseline. As used herein, the term "baseline", also referred to as a baseline, further refers to a distance, eg, the distance between at least one transmitting optical system and at least one receiving optical system in the xy plane. For example, the baseline can be the distance between the optical axis and the irradiation source, in particular the distance between the optical axis and the z component of the irradiation light beam. The detector can include additional optical elements, such as at least one mirror, which can further increase the distance to the irradiation source.

In the case of an optical sensor, or a plurality of optical sensors, the plurality of optical sensors may be arranged off-focus. As used herein, the term "focus" generally refers to a confusion circle or circle of light beam, in particular at least one light beam emitted from a point in an object, caused by the transfer device or the focal length of the transfer device. Refers to one or both of the minimum ranges. As used herein, the term "circle of confusion" refers to a light spot caused by a conical ray of light beam focused by a transfer device. The circle of confusion is the focal length f of the transfer device, the vertical distance from the object to the transfer device, the diameter of the exit pupil of the transfer device, the vertical distance from the transfer device to the photosensitive area, and the distance from the transfer device to the image of the object. Can depend on it. For example, in the case of a Gaussian beam, the diameter of the circle of confusion can be the width of the Gaussian beam. In particular, for point objects located or located at an infinite distance from the detector, the transfer device may be adapted to focus the light beam from the object to the focal length of the transfer device. For non-point objects located or located at infinity from the detector, the transfer device is adapted to focus the light beam from at least one point on the object onto the focal plane at the focal length of the transfer device. obtain. For point objects that are not or are not located at infinite distances from the detector, the circle of confusion can have a minimum spread in at least one vertical coordinate. For astigmatic objects that are not located or located at infinite distance from the detector, the circle of confusion of the light beam from at least one point in the object has the least spread in at least one longitudinal coordinate. Can be. As used herein, the term "placed off-focus" generally refers to a location other than the minimum spread of the circle of confusion of the light beam caused by the transfer device or the focal length of the transfer device. In particular, the minimum spread of the focal point or circle of confusion may be at _{the position of the vertical coordinate l focus} , and the position of the optical sensor may have the vertical coordinate l _{sensor different from the l focus.} For example, the vertical coordinate l _sensor may be arranged at a position closer to the transfer device than the vertical coordinate l _focus in the vertical direction, or may be arranged at a position farther from the position of the transfer device than the _{vertical coordinate l focus.} May be done. Thus, the longitudinal coordinate _{l: sensor} and longitudinal seat _{l focus} may be located at different distances from the transfer device. For example, the optical sensor may be longitudinally away from the minimum spread of the circle of confusion by ± 2% of the focal length, preferably ± 10% of the focal length, and most preferably ± 20% of the focal length. For example, the focal length of the transfer device may be 20 mm and the longitudinal coordinate l _sensor may be 19.5 mm, i.e., such that the _sensor is 2.5% of the focal length away from the focal length. The sensor may be placed at a 97.5% focal length.

As outlined above, the photosensor may be placed off-focus. The optical sensor may be arranged so that the distance-dependent variance of the coupled DPR signal is maximized, which corresponds to the maximum dynamic range of the coupled DPR signal Q. Although not bound by theory, a practical approximation for maximizing dynamic range is to maximize the variance of the circle of confusion with respect to distance dependence. The quotient of the radius of confusion at small and large object distances is a practical approximation to the quotient of the coupled signal at small and large object distances. In particular, the optical sensor is coupled DPR signal _{Q close The} binding DPR signal _{Q _far} large object distance and a small object distance may be arranged to have a maximum variation.

Here, the following formula 3 is the radius of the circle of confusion at a small object distance, and the following formula 4 is the radius of the circle of confusion at a large object distance.

は最も遠い物体距離である。 In Equation 2 above, z _o is the detectable range of distance between the optical sensor and the object, z _s is the distance between the transfer device and the optical sensor, and z _i is the focal point behind the transfer device. the position of the coded image, which depends on the position of the object z _o. The optimum position of the optical sensor and / or the optimum position of the dichroic filter can be adjusted using the following steps: i) the step of placing the optical sensor at the focal length of the farthest object distance; ii) the distance from the focal length Δ The step of moving the photosensor from the focal point, especially along the optical axis or backwards to the optical axis, so that the best confusion circle variation and maximum range are given, where, in Equation 6 below, _Osize is the optical sensor. Above spot size, f is the focal length _{of the transfer device, F #} is the F value of the transfer device,

Is the farthest object distance.

As mentioned above, by evaluating the first and second sensor signals, the detector has at least one longitudinal aspect of the object, including the option of determining the longitudinal coordinates of the entire object or one or more portions thereof. It can be possible to determine the coordinates. However, in addition, other coordinates of the object, including one or more lateral and / or rotating coordinates, may be determined by the detector, specifically by the evaluator. Thus, as an example, one or more lateral sensors may be used to determine at least one lateral coordinate of an object. A single lateral sensor, such as a single quadrant diode or a single resistant lateral PSD, may be sufficient to allow determination of the position of the object (X, Y, Z). The combined signal or longitudinal coordinate z can be determined using the sum of the signals of these sensors, and these sensors are configured to determine the lateral coordinates (X, Y). The various lateral sensors are, for example, the lateral sensors disclosed in WO2014 / 097181A1 and / or other position sensing devices (PSDs) such as quadrant diodes, CCD or CMOS chips, split electrode PSDs, eg OSI. Commonly known in the art, such as lateral PSDs available from Optoelectronics. These devices can also generally be implemented in the detector according to the present invention. As an example, a portion of the light beam may be split within the detector by at least one beam splitting element. The split portion may, for example, be guided towards a lateral sensor such as a CCD or CMOS chip or camera sensor, and the lateral position of the light spot on the lateral sensor generated by the split portion is determined and it Can determine at least one lateral coordinate of an object. As a result, the detector according to the present invention may be, for example, a one-dimensional detector such as a simple distance measuring device, or may be embodied as a two-dimensional detector or a three-dimensional detector. In addition, three-dimensional images can also be created by scanning the scene or environment in a one-dimensional fashion, as described above or as outlined in more detail below. Therefore, the detector according to the present invention can be specifically one of a one-dimensional detector, a two-dimensional detector, or a three-dimensional detector. The evaluator may be further configured to determine at least one lateral coordinate x, y of the object.

The detector can include at least two photosensors, preferably a plurality of photosensors. As used herein, the term "at least two photosensors each have at least one photosensitive area" refers to a configuration comprising two single light sensors, each having one photosensitive area, and at least. Refers to a configuration including one coupled light sensor having two photosensitive areas. Accordingly, the term "optical sensor" further refers to a photosensitizer configured to generate one output signal, and herein, a photosensitizer configured to generate two or more output signals. For example, at least one CCD and / or CMOS device is referred to as two or more optical sensors. As outlined in more detail below, each optical sensor is provided with exactly one photosensitive area that can be irradiated, eg, so that exactly one photosensitive area is present within each optical sensor. , It may be embodied so that exactly one uniform sensor signal is generated for the entire optical sensor in response to irradiation of the photosensitive area. Therefore, each optical sensor may be a single area optical sensor. However, the use of a single area optical sensor makes the detector configuration particularly simple and efficient. Thus, as an example, commercially available optical sensors, each having exactly one sensitive area, such as a commercially available silicon photodiode, may be used in the configuration. However, other embodiments are also possible. Thus, as an example, an optical device comprising two, three, four, or four or more photosensitive areas considered as two, three, four, or four or more optical sensors in the context of the present invention. May be used. As an example, the optical element can include a matrix of photosensitive areas. Thus, as an example, the photosensor may be part of or constitute a pixelated optical device. As an example, the optical sensor may be part of or constitute at least one CCD and / or CMOS device having a matrix of pixels, where each pixel forms a photosensitive area. For example, the photosensor may be a bicell, a split electrode PSD (Position Sensing Device), or a partial diode of a quadrant diode. For example, the optical sensor may be at least one element selected from the group consisting of CCD sensor elements, CMOS sensor elements, photodiodes, photocells, photoconductors, phototransistors or any combination thereof. It may be included.

The optical sensor may be a bicell, a split electrode PSD, or a partial diode of a quadrant diode and / or may include at least one CMOS sensor. For example, the optical sensor can include at least one CMOS sensor. The light beam that has passed through the dichroic filter can collide with different positions or regions on the CMOS sensor, depending on the wavelength and the angle of incidence on the dichroic filter. To determine the coupling signal Λ, the evaluator determines the sum or sum signal of all the signals of the CMOS sensor and produces a first sensor signal and a second sensor signal depending on the wavelength. May be adapted. The evaluation device may be configured to combine the first sensor signal and the second sensor signal to determine the combined signal Λ. The evaluation device may be configured to determine the vertical coordinates z of the object by evaluating the coupling signal Λ.

Further, in order to determine the coupled DPR signal Q, the evaluator may be adapted to divide the sensor region of the CMOS sensor into at least two subregions. Specifically, the evaluator may be adapted to divide the sensor area of the CMOS sensor into at least one left portion and at least one right portion and / or at least one upper portion and at least. It may be adapted to be split into one lower portion and / or to be split into at least one inside and at least one outside. The evaluation device may be configured to select one of the sensor signals in the sub-region as the first DPR sensor signal and the sensor signal in the other sub-region as the second DPR sensor signal. The evaluator may be configured to determine _{at least one longitudinal coordinate z DPR} of the object by evaluating the coupled DPR signal Q from the sensor signals in at least two subregions.

For example, the optical sensor may be a partial diode of a segmented diode, the center of the segmented diode off-center from the optical axis of the detector. The light beam that has passed through the dichroic filter can collide with a segment or quadrant of the diode, depending on the wavelength and the angle of incidence on the dichroic filter. As used herein, the term "partial diode" may include several diodes connected in series or in parallel. This example is fairly simple and cost-effectively feasible. Therefore, as an example, bicell diodes or quadrant diodes are widely marketed at low cost, and drive schemes for these bicell diodes or quadrant diodes are generally known. As used herein, the term "bi-cell diode" generally refers to a diode that has two partial diodes in one package. Bicell diodes and quadrant diodes can have two or four separate photosensitive areas, especially two or four active areas. As an example, bicell diodes can form independent diodes, each with the full functionality of the diode. As an example, the bicell diodes may each have a square or rectangular shape, such that the two diodes form a 1x2 or 2x1 matrix in which the two partial diodes have an overall rectangular shape. It may be arranged in one plane. However, the present invention proposes a new scheme for evaluating sensor signals of bicelle diodes and quadrant diodes, as outlined below in more detail. However, in general, the optical sensor may be specifically a partial diode of a quadrant diode, with the center of the quadrant diode off-center from the optical axis of the detector. As used herein, the term "quadrant diode" generally refers to a diode that has four partial diodes in one package. As an example, each of the four partial diodes can form an independent diode with the full functionality of the diode. As an example, each of the four partial diodes may have a square or rectangular shape, such that the four partial diodes form a 2x2 matrix with the four partial diodes having an overall rectangular or square shape. In addition, it may be arranged in one plane. In a further example, the four partial diodes can together form a 2x2 matrix with a circular or oval shape. As an example, the partial diodes may be adjacent to each other with minimal spacing.

If a quadrant diode with a 2x2 matrix of partial diodes is used, the center of the quadrant diode may be specifically off-center or offset from the optical axis. Thus, as an example, the center of the quadrant diode, which can be the intersection of the geometric centers of the optical sensors of the quadrant diode, is at least 0.2 mm, more preferably at least 0.5 mm, more preferably at least 1.0 mm, and even 2. It may be off-centered from the optical axis by 0 mm. Similarly, when using other types of optical sensor configurations with multiple optical sensors, the overall center of the optical sensor may be offset from the optical axis by the same distance.

In general, the photosensitive area of an optical sensor may have any surface area or size. However, especially considering a brief evaluation of the sensor signal, the photosensitive area of the optical sensor is preferably substantially equal, such as a tolerance of less than 10%, preferably less than 5%, or even less than 1%. .. This is specifically the case for a typical commercial quadrant diode.

In a typical configuration, a commercially available quadrant diode such as a quadrant photodiode is used for positioning, i.e. adjusting and / or measuring the lateral coordinates of the light spot in the plane of the quadrant photodiode. Therefore, as an example, positioning of a laser beam using a quadrant photodiode is well known. However, according to typical prejudice, quadrant photodiodes are used only for xy positioning. According to this assumption, quadrant photodiodes are not suitable for measuring distance. To determine the coupling signal Λ, the evaluator is to determine the sum or sum signal of all the signals of the quadrant diode and generate a first sensor signal and a second sensor signal depending on the wavelength. May be adapted as such. The evaluation device may be configured to combine the first sensor signal and the second sensor signal to determine the coupling signal Λ. The evaluation device may be configured to determine the vertical coordinates z of the object by evaluating the coupling signal Λ.

Further, to determine the coupled DPR signal Q, the spot asymmetry can be measured by slightly offsetting the quadrant diode from the axis, eg, by the offset described above. Thereby, a monotonous z-dependent function can be generated, for example, by forming a coupled signal Q of two or more partial photodiodes of a quadrant photodiode, i.e., two or more sensor signals of the quadrant. There, in principle, only two photodiodes may be used for distance measurement. The other two diodes may be used for noise cancellation or for more accurate measurements.

In addition to or as an alternative to using quadrant diodes or quadrant photodiodes, other types of optical sensors can be used. Therefore, for example, a staggered optical sensor can be used.

The use of quadrant diodes offers a number of advantages over known photodetectors. As such, quadrant diodes are used in many applications in combination with LEDs or active targets and are widely marketed with various optical properties such as spectral sensitivity and at very low prices in various sizes. There is. Since a commercially available product can be mounted on the detector according to the present invention, it is not necessary to establish a special manufacturing method.

As described above, specifically, a quadrant photodiode can be used. As an example, Hamamatsu Photonics Deutschland GmbH, D-82211 Herrsching am Ammersee, Germ, such as a Type S4349 quadrant Si PIN photodiode that is sensitive in the ultraviolet to near infrared spectral range to provide four optical sensors. Commercially available quadrant photodiodes, such as one or more quadrupole photodiodes available, can be incorporated. If an array of optical sensors is used, the array may be a bare chip or an enclosed array as enclosed in a TO-5 metal package. Additional or alternative, such as using TT Electronics OPR59, which can use TT Surface mount devices available from TT Electronics plc, Fourth Floor, St Andrews House, West Street Woking Surrey, GU216EB, England, etc. Note that other optical sensors can also be used.

Further note that in addition to the option of using exactly one quadrant photodiode, two or more quadrant photodiodes can be used. Therefore, as an example, one or more optical sensors can be provided and the first quadrant photodiode can be used for distance measurement as described above. A second partial beam path split from the beam path of the first quadrant photodiode for lateral position measurements, such as to use at least one lateral coordinate x and / or y for another quadrant photodiode. Can be used within. As an example, the second quadrant photodiode may be arranged on the axis with respect to the optical axis.

Further, in addition to the option of using one or more quadrant photodiodes, the one or more quadrant photodiodes, or additional photodiode arrays, are preferably in a symmetrical shape, such as a rectangular matrix, such as a 2x2 matrix. Note that they can be replaced or mimicked by separated photodiodes placed or assembled in close proximity to each other. However, further placement is possible. In such an arrangement or assembly, the photodiode is one, such that all photodiodes are in a single housing or mount, or groups of photodiodes are in a single housing or mount. It may be placed or assembled in a housing or mount, or each photodiode may be placed or assembled in a separate housing or mount. .. In addition, the photodiode may be assembled directly on the circuit board. In such an arrangement or assembly, the photodiodes may be arranged so that the distance between the active areas of the photodiode is less than 1 centimeter, preferably less than 1 millimeter, more preferably as small as possible. can. In addition, in order to avoid light reflections, distortions, etc. that may worsen the measurement, the space between the active areas is empty or preferably a black polymer such as black silicon, black polyoxymethylene, etc. It can be filled with a light-absorbing material, more preferably a light-absorbing and electrically insulating material such as an insulating black polymer such as black ceramic or black silicon. Further, the value of the distinction of the photodiode spacing can also be realized by adding a distinctive building block between the photodiodes such as a plastic separator. Further embodiments are possible. Replacing a quadrant photodiode with a single diode placed in a similar configuration, such as a 2x2 rectangular matrix with the minimum distance between active areas, can further minimize the cost of the photodetector. Further, two or more diodes from the quadrant diode can be connected in parallel or in series to form a single photosensitive area.

If a quadrant diode is used, the quadrant diode may also be used for additional purposes. Therefore, quadrant diodes can also be used for conventional xy measurements of light spots, as is commonly known in the fields of optoelectronics and laser physics. Thus, as an example, the position of the lens or detector can be adjusted to optimize the position of the spot for distance measurement using the conventional xy position information of the quadrant diode. As a practical example, the light spot can first be placed in the middle of the quadrant diode, which is usually not allowed in the distance measurements described above using the DPR signal Q. Thus, firstly, conventional quadrant photodiode technology is used to off-center the position of the optical spot on the quadrant photodiode, for example, the spot position on the quadrant diode is optimal for measurement. obtain. Thus, as an example, the different off-centers of the detector's optical sensor simply move with respect to the optical axis of the optical spot, such that the optical spot is off-centered with respect to the optical axis and with respect to the geometric center of the array of optical sensors. Can be the starting point for. Therefore, in general, the photosensor of the detector may form a sensor array or be part of the sensor array, as in the quadrant diode described above. Thus, as an example, the detector may include, for example, an array of optical sensors such as a rectangular array having m rows and n columns, where m and n are independently positive integers. Preferably, a plurality of columns and a plurality of rows are given, that is, n> 1, m> 1. Therefore, as an example, n can be 2 to 16 or more, and m can be 2 to 16 or more. Preferably, the ratio of the number of rows to the number of columns is close to 1. As an example, by selecting, for example, m / n = 1: 1, 4: 3, 16: 9, or the like, n and m are selected so that, for example, 0.3 ≦ m / n ≦ 3. can do. As an example, the array may be a square array with an equal number of rows and columns, such as by selecting m = 2, n = 2 or m = 3, n = 3, and so on. The case of m = 2 and n = 2 is the case of a quadrant diode or a quadrant light sensor, which is one of the preferred cases for practical reasons because the quadrant photodiode is widely available. As a starting point, the geometric center of the optical sensor in the array may be off-centered from the optical axis, such as by the offset described above. The sensor array specifically shifts the optical axis in parallel, eg, along a gradient, preferably automatically, eg, by moving the sensor array in a plane perpendicular to the optical axis, and / or. It may be movable with respect to the optical axis by moving the optical axis itself by tilting and / or tilting the optical axis. Therefore, the sensor array can be shifted to adjust the position of the light spots produced by the light beam in the plane of the sensor array. Additional or alternative, the optical axis can be shifted and / or tilted by using the appropriate elements, eg, by using one or more deflection elements and / or one or more lenses. can. .. As an example, the movement is, for example, moving and / or shifting the array to move the optical axis, such as moving the optical axis in parallel and / or tilting the optical axis, and / or one in the beam path. One or more such as one or more piezo actuators and / or one or more electromagnetic actuators and / or one or more pneumatic or mechanical actuators, such as moving and / or shifting and / or tilting one or more optical elements. It can be done by using the appropriate actuator of. Specifically, the evaluation device can adjust the relative position of the sensor array with respect to the optical axis so as to control it in a plane perpendicular to the optical axis, for example. The adjustment procedure is, secondly, the array so that the evaluator determines at least one lateral position of the light spot generated by the light beam on the sensor array by using the sensor signal. And / or by moving the optical axis, for example by moving the array in the plane to the optical axis until the optical spot is off-centered, and / or by tilting the lens until the optical spot is off-centered. It can be done if it is configured to move the array with respect to the axis. As used herein, the lateral position can be a position in a plane perpendicular to the optical axis, which can also be referred to as an xy plane. For the measurement of lateral coordinates, the sensor signals of the optical sensor may be compared, as an example. As an example, to off-center the light spots in the array if the sensor signals are found to be equal and therefore the light spots are determined to be symmetrically aligned with respect to the light sensor, such as in the center of the quadrant diode. The array can be shifted and / or the lens can be tilted. Thus, as mentioned above, off-centering of an array from the optical axis, such as by off-centering the center of the quadrant photodiode from the optical axis, is typical of the light spot being located on the optical axis and thus centered. It can be just a starting point to avoid such situations. Therefore, it is necessary to off-center the light spot by off-centering the array with respect to the optical axis. If the off-center of the light spot is not true, such as when the light spot happens to be in the center of the array and illuminates all light sensors equally, then the optical axis to off-center the light spot on the array. The above-mentioned shift of the array to is performed, preferably automatically. Thereby, reliable distance measurement can be performed.

Moreover, in scanning systems with movable light sources, the location of light spots on the quadrant diode may not be fixed. This is still possible, but different calibrations may need to be used depending on the xy position of the spot in the diode.

Moreover, the use of the coupled DPR signal Q described above is a very reliable method for distance measurement. Usually, Q is a monotonic function of the size of the light spot, such as the vertical coordinates of the object and / or the diameter or equivalent diameter of the light spot. Thus, as an example, the quotient Q is a monotonically decreasing function of the size of the light spot, especially when a linear light sensor is used. Although not bound by this theory, it does not mean that in the preferred configuration described above, sensor signals such as, for example, the first sensor signal and the second sensor signal described above have the amount of light that reaches the detector. Because it decreases, it is considered to be due to the fact that it decreases as a square function as the distance to the light source increases. However, there, due to off-center, one of the sensor signals diminishes more rapidly than the other, and in an optical configuration as used in the experiment, the light spots in the image plane grow and therefore a larger area. Expand over. However, the enlargement of the light spot increases the portion of light that illuminates one or more light sensors outside the center of the light spot, as compared to the situation of a very small light spot. Therefore, the quotient of the sensor signal continuously changes, ie increases or decreases, as the diameter of the light beam or the diameter of the light spot increases. Moreover, the quotient can be largely independent of the total output of the light beam, as the total output of the light beam forms one element in every sensor signal. As a result, the quotient Q can form a secondary signal that provides a unique and clear relationship between the sensor signal and the size or diameter of the light beam.

On the other hand, the size or diameter of the light beam depends on the distance between the object propagating from it towards the detector and the detector itself, i.e., because it depends on the longitudinal coordinates of the object. There can be a unique and clear relationship between the second sensor signal and the vertical coordinates. For the latter, one or more of the above prior art documents, such as WO2014 / 097181A1, can be referred to. The given relationship is derived from it by analytical considerations, such as assuming a linear combination of Gaussian light beams, for example a measurement measuring the first and second sensor signals, or as a function of the longitudinal coordinates of the object. It can be determined by empirical measurements such as secondary signals, or both.

Each photosensitive area of the two light sensors may have a geometric center, which is separated from the photoaxis of the detector by different spatial offsets. As used herein, the term "geometric center" of an area can generally refer to the area centroid. As an example, if any point inside or outside the area is selected, and if the integral is formed over a vector that interconnects this arbitrary point with all the points in the area, the integral is at any point. It is a function of position. If any point is located at the geometric center of the area, the absolute value of the integral is minimized. Thus, in other words, the geometric center can be a point inside or outside the area where the total or total distance from all points in the area is minimized. For example, each geometric center in each photosensitive area _{can be located at the vertical coordinates Center, i} , where i represents the number of each optical sensor. If the detector contains exactly two photosensors, and if the detector contains two or more photosensors, the photosensor can include at least one first photosensor, the first photosensor, especially geometry. The scientific center is located at the first longitudinal coordinate _{Center, 1} , and the photosensor can include at least one second photosensor, the second photosensor, especially the geometric center, is in the second longitudinal direction. It is in the coordinate _{Sensor, 2} , and the first vertical coordinate and the second vertical coordinate are different. For example, the first optical sensor and the second optical sensor may be arranged in different planes offset in the direction of the optical axis. The first optical sensor may be placed in front of the second optical sensor. Therefore, as an example, the first optical sensor may simply be placed on the surface of the second optical sensor. Additional or alternative, the first photosensor may be spaced apart from the second photosensor, eg, 5 of the square root of the surface area of the first photosensitivity area, i.e., the surface area of the photosensitivity area of the first photosensor. It may be arranged at a distance from the second optical sensor by a factor of 2 or less. Additional or alternative, the first optical sensor may be placed in front of the second optical sensor and may be placed at a distance of 50 mm or less, preferably 15 mm or less from the second optical sensor. The relative distance between the first optical sensor and the second optical sensor may depend on, for example, the focal length or the object distance.

Each geometric center of each photosensitive area may be spaced away from the optical axis of the transfer device, such as the optical axis of the beam path or each beam path in which each optical sensor is located. The distance between the geometric center and the optical axis, especially the lateral distance, is referred to by the term "spatial offset". In the case of a detector containing exactly two photosensors, and in the case of a detector containing two or more photosensors, the photosensor is at least one first photosensor separated from the optical axis by a first spatial offset. , And at least one second optical sensor separated from the optical axis by a second spatial offset, where the first spatial offset and the second spatial offset are different. As an example, the first and second spatial offsets may differ by at least 1.2 times, more preferably at least 1.5 times, more preferably at least 2 times.

In the case of a detector containing exactly two photosensors, and in the case of a detector containing two or more photosensors, the photosensors are at least one first photosensor having a first surface area and a second surface area. Can include at least one second optical sensor with. In the case of a detector comprising two or more photosensors, eg, a sensor element comprising a matrix of optical sensors, at least one of the first group of photosensors or the optical sensors of the matrix forms a first surface area. , The other at least one of the second group of photosensors or the photosensors of the matrix may form a second surface area. The first surface area and the second surface area may be different. In particular, the first surface area and the second surface area do not match. As used herein, the term "surface area" generally refers to both the shape and content of at least one photosensitive area. Therefore, the surface areas of the first optical sensor and the second optical sensor may differ depending on one or more of the shapes or contents. For example, the first surface area may be smaller than the second surface area. As an example, both the first surface area and the second surface area can have a square or rectangular shape, and the length of the square or rectangular sides of the first surface area corresponds to the square or rectangular of the second surface area. It may be smaller than the length of the side to be used. Alternatively, as an example, both the first surface area and the second surface area can have a circular shape, and the diameter of the first surface area may be smaller than the diameter of the second surface area. Alternatively, as an example, the first surface area can have a first equivalent diameter, the second surface area can have a second equivalent diameter, and the first equivalent diameter is smaller than the second equivalent diameter. It's okay. The optical sensors, particularly the photosensitive areas, may overlap, or may be arranged so that there is no overlap between the optical sensors.

The first photosensitive area may be smaller than the second photosensitive area, that is, the photosensitive area of the second optical sensor. As used herein, the term "smaller" refers to the fact that the surface area of the first photosensitive area is smaller than the surface area of the second photosensitive area, eg, at least 0.9 times, for example at least 0.7 times, or. Refers to the fact that it is at least 0.5 times. As an example, both the first photosensitive area and the second photosensitive area can have a square or rectangular shape, and the length of the square or rectangular side of the first photosensitive area is the square of the corresponding second photosensitive area. Or smaller than the sides of the rectangle. Alternatively, as an example, both the first photosensitive area and the second photosensitive area may have a circular shape, and the diameter of the first photosensitive area is smaller than the diameter of the second photosensitive area. Alternatively, as an example, the first photosensitive area may have a first equivalent diameter, the second photosensitive area may have a second equivalent diameter, and the first equivalent diameter is from the second equivalent diameter. Is also small.

The second photosensitive area may be larger than the first photosensitive area. Therefore, as an example, the second photosensitive area may be at least twice, more preferably at least three times, most preferably at least five times, and larger than the first photosensitive area.

Specifically, the first photosensitive area may be a small photosensitive area, and preferably a small photosensitive area such that the light beam completely irradiates the photosensitive area. Thus, as an example applicable to typical optical configurations, the first photosensitive area can have ^{a surface area of 1 mm 2} to 150 mm ² , more preferably a surface area of 10 mm ² to 100 mm ² . Specifically, the second photosensitive area can be a large area. Therefore, preferably, within the measurement range of the detector, the light spots produced by the light beam that has passed through the dichroic filter are such that, for example, the light spots are completely aligned within the boundaries of the second photosensitive area. It can be completely placed within the second photosensitive area. As an example, in a typical optical configuration, for example, the second photosensitive area may have a surface area of 160 mm ² to 1000 mm ² , more preferably a surface area of 200 mm ² to 600 mm ² .

The optical sensor may be arranged such that the photosensitive area of the optical sensor has a different spatial offset and / or its surface area. The photosensitive areas of the optical sensor may or may not overlap, as can be seen from the object, that is, they may be arranged adjacent to each other without overlapping. The photosensitive areas may be arranged at intervals from each other, or may be arranged directly adjacent to each other. Specifically, the first photosensitive area may overlap with the second photosensitive area in the propagation direction of the light beam. The light beam that has passed through the dichroic filter may completely or partially irradiate both the first photosensitive area and the second photosensitive area. Therefore, as an example, when viewed from an object located on the optical axis of the detector, the first photosensitive area is such that the first photosensitive area is completely located within the second photosensitive area when viewed from the object. 2 It may be located in front of the photosensitive area. As described above, when the light beam from this object propagates toward the first and second photosensitive areas, the light beam that has passed through the dichroic filter may completely irradiate the first photosensitive area. 2 A light spot may be formed on the photosensitive area, where the shadow formed by the first optical sensor is located in the light spot. However, it should be noted that other embodiments are possible.

Specifically, the first and second optical sensors may be arranged linearly in the same beam path of the detector. As used herein, the term "linearly" generally refers to the sensors being placed along one axis. Therefore, as an example, both the first and second optical sensors may be located on the optical axis of the detector. Specifically, the first and second optical sensors may be arranged concentrically with respect to the optical axis of the detector.

The first optical sensor may be placed in front of the second optical sensor. Therefore, as an example, the first optical sensor may simply be placed on the surface of the second optical sensor. Additional or alternative, the first optical sensor may be spaced from the second optical sensor by no more than five times the square root of the surface area of the first photosensitive area. Additional or alternative, the first optical sensor may be placed in front of the second optical sensor and may be spaced 50 mm or less, preferably 15 mm or less from the second optical sensor. Instead of the linear arrangement of the two optical sensors, the optical sensors may be arranged in different beam paths of the detector.

The optical sensor may be specifically a semiconductor sensor, preferably an inorganic semiconductor sensor, more preferably a photodiode, and most preferably a silicon photodiode. Therefore, the present invention can be easily realized by using a commercially available inorganic photodiode, that is, one small photodiode and one large area photodiode. Therefore, the configuration of the present invention can be realized by an inexpensive and inexpensive method. Specifically, each optical sensor independently has sensitivity in the infrared spectral range, preferably in the range of 780 nm to 3.0 micrometers, and / or in the visible spectral range, preferably 380 nm to 780 nm. It is an inorganic photodiode having a sensitivity in the range of, or may include it. Specifically, it may have sensitivity in the near infrared region to which a silicon photodiode can be applied, particularly in the range of 700 nm to 1000 nm. The infrared light sensor that can be used for the light sensor may be a commercially available infrared light sensor, for example, an infrared light marketed by the German trinamiX GmbH, D-67056 Ludwigshafen am Rhein under the brand name HertzstuckTM. It may be an optical sensor. Thus, as an example, one or both of the photosensors may be at least one photosensor of the unique photovoltaic type, more preferably a Ge photodiode, an InGaAs photodiode, an extended InGaAs photodiode, an InAs Photo. It can include at least one semiconductor photodiode selected from the group consisting of diodes, InSb photodiodes, HgCdTe photodiodes. Additional or alternative, the optical sensor of one or both of the optical sensors is at least one optical sensor of extrinsic photovoltaic type, more preferably Ge: Au photodiode, Ge: Hg photodiode, Ge. It can include at least one semiconductor photodiode selected from the group consisting of: Cu photodiode, Ge: Zn photodiode, Si: Ga photodiode, Si: As photodiode. Additionally or additionally, one or both of the photosensors is a group consisting of at least one photoconductive sensor such as a PbS or PbSe sensor, a bolometer, preferably a VO bolometer and an amorphous Si bolometer. Can include a bolometer selected from.

The detector may have at least one sensor element with a matrix of optical sensors. Each optical sensor may have a photosensitive area. Each optical sensor may be configured to generate at least one sensor signal in response to irradiation of the photosensitive area by a light beam that has passed through a dichroic filter.

As used herein, the term "sensor element" generally refers to a device or combination of devices configured to sense at least one parameter. In this case, the parameter may be specifically an optical parameter, and the sensor element may be specifically an optical sensor element. The sensor elements can be formed as a single unit or as a combination of several devices. As used further herein, the term "matrix" generally refers to the arrangement of multiple elements in a given geometric order. The matrix may or may be a rectangular matrix with one or more rows and one or more columns, as outlined below in more detail. Rows and columns can be specifically arranged in a rectangular fashion. However, it should be explained that other arrangements such as non-rectangular arrangements are possible. As an example, a circular arrangement is also possible, where the elements are arranged in concentric circles or ellipses around the center point. For example, the matrix may be a single row of pixels. Other arrangements are possible.

The matrix optical sensor may specifically be of equal size, sensitivity, and one or more of other optical, electrical, and mechanical properties. The photosensitive area of all optical sensors in the matrix may preferably face an object such that the light beam that has passed through the dichroic filter produces light spots on the common plane.

To determine the coupling signal Λ, the evaluator is adapted to determine the sum or sum signal of all the signals of the optical sensors in the matrix and generate the first and second sensor signals depending on the wavelength. May be. The term "sum signal" generally refers to a signal composed of all sensor signals of an optical sensor. Specifically, the sum signal may be determined by adding up all the sensor signals of the irradiated optical sensor. The evaluation device may be configured to combine the first sensor signal and the second sensor signal to determine the coupling signal Λ. The evaluation device may be configured to determine the longitudinal coordinate z of the object by evaluating the coupling signal Λ.

Further, in order to determine the coupled DPR signal Q, the evaluation device is used.
a) Determine at least one optical sensor with the best sensor signal and form at least one center signal;
b) Evaluate the sensor signals of the matrix optical sensors to form at least one sum signal;
c) Determining the combined DPR signal by combining the center signal and the sum signal; and d) Determining the vertical coordinates z _DPR of the object by evaluating the combined signal.
Can be configured to evaluate the sensor signal.

Light, such as the diameter of a light spot, beam waist or equivalent, as described in more detail in the aforementioned prior art document, eg, one or more of WO2012 / 110924A1 or WO2014 / 097181A1. There is a predetermined or determinable relationship between the size of the spot and the longitudinal coordinates of the object in which the light beam propagates towards the detector. Although not bound by theory, the light spot has two measurement variables: the measurement signal measured by a small measurement patch at or near the center of the light spot, also called the center signal, and with or without the center signal. , Characterized by an integrated or sum signal integrated on the light spot. For a light beam with a specific total output that does not change as the beam expands or focuses, the sum signal must be independent of the spot size of the light spot and therefore independent of the distance between the object and the detector. Must be done. However, the center signal depends on the spot size. Therefore, the center signal usually increases when the light beam is focused and decreases when the light beam is defocused. Therefore, by comparing the center signal and the sum signal, it is possible to generate an information item regarding the size of the light spot generated by the light beam, and thus an information item regarding the vertical coordinate z _DPR of the object. The comparison of the center signal and the sum signal is, for example, forming a coupled DPR signal Q from the center signal and the sum signal, and determining a predetermined or determinable relationship between the _{vertical coordinate z DPR and the combined DPR signal.} It can be done by using it to derive the vertical coordinates z _DPR.

Therefore, according to the present invention, the term "center signal" generally refers to at least one sensor signal that contains information about the substantially center of the beam profile. As used herein, the term "best sensor signal" refers to one or both of the local maximums and / or maximums of the region of interest. For example, the center signal can be the signal of at least one optical sensor having the highest sensor signal among the plurality of sensor signals generated by the optical sensors in the entire matrix or in the region of interest in the matrix. It may be predetermined or determinable within the image produced by the matrix optical sensor. The center signal may originate from a single light sensor or from a group of light sensors, as outlined below in more detail, in the latter case, as an example, the sensor signal of the group of light sensors is centered. It can be added, integrated, or averaged to determine the signal. The group of optical sensors that produce the central signal can be a group of adjacent optical sensors, such as an optical sensor that is shorter than a predetermined distance from the actual optical sensor with the highest sensor signal, or a predetermined range from the highest sensor signal. It can be a group of optical sensors that generate sensor signals within. The group of light sensors that produce the central signal can be selected as large as possible to allow maximum dynamic range. The evaluator may be adapted to determine the center signal by integrating the sensor signals of the plurality of sensor signals, eg, the sensor signals of the plurality of optical sensors around the optical sensor having the highest sensor signal. For example, the beam profile can be a trapezoidal beam profile and the evaluator may be adapted to determine the integral of a trapezoidal, especially trapezoidal plateau.

Similarly, the term "sum signal" generally refers to a signal that contains substantially edge information of the beam profile. For example, the sum signal can be derived by adding the sensor signals, integrating the sensor signals, or averaging the sensor signals of the entire matrix or regions of interest within the matrix, the regions of interest being of the matrix. Predetermined or determinable within the image produced by the optical sensor. When summing, integrating, or averaging sensor signals, the actual optical sensor from which the sensor signal is generated may be excluded from addition, integration, or averaging, or included in addition, integration, or averaging. It may be. The evaluator may be adapted to determine the sum signal by integrating the signals of the entire matrix or of the region of interest within the matrix. For example, the beam profile can be a trapezoidal beam profile and the evaluator can be adapted to determine the integral of the entire trapezoid. In addition, if a trapezoidal beam profile is envisioned, edge and center signal determination utilizes the characteristics of the trapezoidal beam profile, such as edge gradient and position determination, and central plateau height determination, and geometry. It can be replaced with an equivalence evaluation that derives the edge signal and the center signal by the consideration.

Additional or alternative, the evaluator may be adapted to determine one or both of the center information or edge information from at least one slice or cut of the light spot. This can be achieved, for example, by replacing the surface integral of the coupled DPR signal Q with a line integral along the slice or cut. To improve accuracy, several slices or cuts through the light spot can be used for averaging. For elliptical spot profiles, distance information may be improved by averaging several slices or cuts.

The combined DPR signal Q is: forming a quotient of the center signal and the sum signal, or vice versa; forming a quotient of a multiple of the center signal and a multiple of the sum signal, or vice versa. Forming; may be determined by one or more of forming a quotient of a linear combination of the central signal and a linear combination of the sum signals, or vice versa. Additional or alternative, the coupled DPR signal may include any signal or combination of signals that includes at least one item of information regarding the comparison between the center signal and the sum signal.

The light beam that has passed through the dichroic filter is larger than the photosensitive area of at least one light sensor from which the sensor signal is generated so that at least one light sensor from which the center signal is generated is perfectly located within the light beam. The width can completely illuminate at least one photosensor from which the center signal is generated. Conversely, preferably, the light beam that has passed through the dichroic filter may generate light spots smaller than the matrix over the entire matrix so that the light spots are perfectly located within the matrix. Such situations are facilitated by those skilled in the art of optics by selecting one or more suitable lenses or elements that have a focusing or defocusing effect on the light beam, such as by using a suitable transfer device. Can be adjusted to.

As outlined above, the center signal can generally be a single sensor signal, such as a sensor signal from an optical sensor in the center of the light spot, or a sensor signal originating from an optical sensor in the center of the light spot. It can be a combination of a plurality of sensor signals, such as a combination of, or a secondary sensor signal derived by processing a sensor signal derived from one or more of the above possibilities. Since the comparison of sensor signals is performed fairly simply by conventional electronics, the determination of the central signal may be performed electronically or completely or partially by software. Specifically, the central signal is: the highest sensor signal; the average of the group of sensor signals within a given tolerance from the highest sensor signal; the group of optical sensors including the optical sensor with the highest sensor signal and adjacent. Average of sensor signals from a given group of optical sensors; sum of sensor signals from a given set of optical sensors with the highest sensor signal and adjacent sets of optical sensors; within a given tolerance from the highest sensor signal The sum of the set of sensor signals in; the sum of the set of sensor signals that exceed a given threshold; the sum of the sensor signals from the set of optical sensors with the highest sensor signal and the given set of adjacent optical sensors; the best sensor It can be selected from the group consisting of the integration of a group of sensor signals within a predetermined tolerance from the signal; the integration of a group of sensor signals exceeding a predetermined threshold.

As outlined above, the unprocessed sensor signal of the optical sensor may be used for the secondary sensor signal to be evaluated or derived from it. As used herein, the term "secondary sensor signal" is generally an electronic signal obtained by processing one or more unprocessed signals, such as filtering, averaging, or demodulation, more preferably. Refers to signals such as analog and / or digital signals. Therefore, an image processing algorithm can be used to generate a secondary sensor signal from the entire sensor signal in the matrix or from a region of interest within the matrix. Specifically, a detector such as an evaluator may be configured to convert the sensor signal of the optical sensor and thereby generate a secondary optical sensor signal, the evaluation device using the secondary optical sensor signal. Then, steps a) to d) are configured to be executed. The transform of the sensor signal is specifically: filtering; selection of at least one region of interest; formation of a differential image between the image produced by the sensor signal and at least one offset; generated by the sensor signal. Inversion of the sensor signal by inverting the image; formation of a difference image between the images generated by the sensor signal at different times; background correction; decomposition into color channels; decomposition into hues; saturation; and brightness channels; frequency Decomposition; Singularity decomposition; Canny edge detector application; Gaussian filter Laplacian application; Gaussian filter diff application; Sobel operator application; Plus operator application; Scharr operator application; Fourier operator application Apply; Apply Roberts Operator; Apply Signal Operator; Apply High Pass Filter; Apply Low Pass Filter; Apply Fourier Transform; Apply Radon Transform; Apply Huff Transform; Apply Wavelet Transform; Threshold Processing; Binary Image It may include at least one transform selected from the group consisting of creations. The region of interest can be determined manually by the user, or it can be determined automatically, such as by recognizing an object in an image generated by an optical sensor. As an example, a vehicle, a person, or another type of predetermined object can be determined by automatic image recognition within the image, i.e., within the entire sensor signal generated by the optical sensor, and the region of interest is the object's interest. It can be selected to be located within the area. In this case, evaluations such as determination of vertical coordinates can be performed only on the region of interest. However, other implementations are possible.

As outlined above, the detection of the center of a light spot, i.e., the detection of at least one optical sensor that produces a center signal and / or a center signal, can be performed completely or partially electronically, or one. It can be performed completely or partially using the above software algorithms. Specifically, the evaluator may include at least one center detector for detecting at least one best sensor signal and / or for forming a center signal. The central detector may be specifically or partially embodied in software and / or may be fully or partially embodied in hardware. The central detector may be fully or partially integrated into at least one sensor element and / or may be fully or partially embodied independently of the sensor element.

As outlined above, the sum signal is one of these possibilities except from all the sensor signals in the matrix, from the sensor signals in the region of interest, or from the optical sensor that contributes to the center signal. Can be derived from. In all cases, a reliable sum signal that can be reliably compared to the center signal can be generated to determine the vertical coordinates. In general, sum signals are as follows: average of all sensor signals in the matrix; sum of all sensor signals in the matrix; integration of all sensor signals in the matrix; excluding sensor signals from optical sensors that contribute to the center signal, matrix Average of all sensor signals in; total of all sensor signals in the matrix, excluding sensor signals from optical sensors that contribute to the center signal; all sensors in the matrix, excluding sensor signals from optical sensors that contribute to the center signal. Signal integration; Sum of sensor signals of optical sensors within a given range from the optical sensor with the highest sensor signal; Integration of sensor signals of optical sensors within a given range from the optical sensor with the highest sensor signal; Best Total of sensor signals exceeding a predetermined threshold of an optical sensor located within a predetermined range from an optical sensor having a sensor signal; exceeding a predetermined threshold of an optical sensor within a predetermined range from the optical sensor having the highest sensor signal. It can be selected from the group consisting of the integration of sensor signals. However, there are other options.

The addition may be performed entirely or partially in software and / or may be performed entirely or partially in hardware. Addition is generally possible by purely electronic means, typically which can be easily implemented in the detector. Therefore, in the field of electronics, adders are generally known to add two or more electrical signals, both analog and digital signals. Therefore, the evaluation device can be provided with at least one adder for forming the sum signal. The adder may be fully or partially integrated into the sensor element, or may be fully or partially embodied independently of the sensor element. The adder may be fully or partially embodied in one or both of the hardware and software.

As outlined above, _{in order to determine the longitudinal coordinate z DPR} , the comparison between the center signal and the sum signal may be performed specifically by forming one or more quotient signals. good. Therefore, in general, the combined signal is: to form the quotient of the central signal and the sum signal, or vice versa; to form the quotient of the multiple of the central signal and the multiple of the sum signal, Forming a quotient of quotient of or vice versa; forming a quotient of linear combination of central signal and linear combination of sum signal, or vice versa; quotient of central signal and linear combination of sum signal and central signal Forming the quotient of the combination, or vice versa; the quotient of the sum signal and the quotient of the linear combination of the sum signal and the center signal, or vice versa; the power of the center signal and the sum signal It may be a quotient signal derived by one or more of forming a power quotient or vice versa. However, there are other options as well. The evaluation device may be configured to form one or more quotient signals.

Evaluation device, specifically, to determine at least one longitudinal coordinate z _DPR, is configured to use at least one predetermined relationship between the coupling DPR signal Q and the longitudinal coordinate z _DPR You may. Thus, for the reasons disclosed above, and due to the dependence of the characteristics of the light spot on the longitudinal coordinates, the coupled DPR signal Q is typically a monotonic function of the longitudinal coordinates of the object, and / Or a monotonic function of the size of the light spot, such as the diameter or equivalent diameter of the light spot. Thus, by way of example, if the specific linear optical sensor is used, the sensor signal _{s center} and simple quotient of the sum signal _{s sum Q = s center / s} sum may be a monotonically decreasing function of the distance. Although not bound by theory, this is because in the preferred configuration described above, the amount of light reaching the detector is reduced, so as the distance to the light source increases, the center signal _center and sum signal It is believed that this is due to the fact that both _{ssum decrease as a squared function.} However, there, the central signal _sector decreases more rapidly than _{the sum signal ssum} because, in the optical configuration used in the experiment, the light spots in the image plane increase and thus spread over a wider area. The quotient of the center signal and the sum signal therefore decreases continuously with increasing diameter of the light beam or light spot on the photosensitive area of the matrix light sensor. Moreover, the quotient is usually independent of the total output of the light beam because the total output of the light beam forms the components of both the center signal and the sum sensor signal. As a result, the quotient Q can form a secondary signal that provides a unique and unambiguous relationship between the center signal and the sum signal, and between the size or diameter of the light beam. The size or diameter of the light, on the other hand, depends on the distance between the object and the detector itself, from which the light beam propagates toward the detector, that is, it depends on the vertical coordinates of the object, on the other hand, the center. There can be a unique and clear relationship between the signal and the sum signal, and on the other hand, between the center signal and the longitudinal coordinates. For the latter, one or more of the above prior art documents such as WO2014 / 097181A1 can be referred to. Predetermined relationships are based on analytical considerations, for example by assuming a linear combination of Gaussian light beams, and for example the combination signal and / or the center signal and the sum signal or the secondary signal derived from it, in the vertical coordinates of the object. It can be determined by empirical measurements such as measurements measured as a function of, or by both.

As described above, in general, the evaluation device may be configured to determine the vertical coordinates by evaluating the coupled DPR signal Q such as a quotient signal. This determination may be a one-step process, for example by directly coupling the center signal and the sum signal to derive their longitudinal coordinates, or first, for example, the combined DPR signal from the center signal and the sum signal. May be a multi-step process such as deriving the above and secondly deriving the vertical coordinates from the combined DPR signal. Both options, i.e., an option in which steps c) and d) are separate and independent steps, and an option in which steps c) and d) are fully or partially combined, are in the present invention. It shall be included.

As outlined above, the photosensor may specifically be a photodetector, preferably an inorganic photodetector, more preferably an inorganic semiconductor photodetector, most preferably a silicon photodetector. Or they may be included. Specifically, the photosensor may have sensitivity in the infrared spectral range. All of the optical sensors in the matrix, or at least one group of optical sensors in the matrix, may be specifically the same. The same group of photosensors in the matrix may be specifically provided in different spectral ranges, or all photosensors may be identical in terms of spectral sensitivity. Further, the photosensors may be identical in size and / or their electronic or optoelectronic properties.

The matrix may consist of independent optical sensors. Therefore, a matrix of inorganic photodiodes can be constructed. However, instead, one or more CCD detectors such as a CCD detector chip and / or a commercially available matrix such as a CMOS detector such as a CMOS detector chip may be used. Therefore, in general, the photosensor of the detector may form a sensor array or may be part of a sensor array such as the matrix described above. Thus, as an example, the detector may include an optical sensor array, such as a rectangular array, having m rows and n columns, where m and n are independently positive integers. Preferably, a plurality of columns and a plurality of rows are given, that is, n> 1, m> 1. Therefore, as an example, n can be 2 to 16 or more, and m can be 2 to 16 or more. Preferably, the ratio of the number of rows to the number of columns is close to 1. As an example, n and m can be selected so that 0.3 ≦ m / n ≦ 3 by selecting m / n = 1: 1, 4: 3, 16: 9, or the like. As an example, the array may be a square array with an equal number of rows and columns, such as by selecting m = 2, n = 2 or m = 3, n = 3, and so on.

As further outlined above, the matrix may be specifically a rectangular matrix having at least one row, preferably a plurality of rows and a plurality of columns. As an example, rows and columns may be oriented in a substantially vertical direction, and as used herein, the above definition can be referred to with respect to the term "substantially vertical". .. Thus, as an example, tolerances smaller than 20 °, specifically less than 10 °, or even less than 5 ° can be tolerated. To provide a wide field of view, the matrix can specifically have at least 100 rows, preferably at least 500 rows, more preferably at least 1000 rows. Similarly, the matrix can have at least 100 columns, preferably at least 500 columns, more preferably at least 1000 columns. The matrix can have at least 5000 optical sensors, preferably at least 100,000 optical sensors, more preferably at least 5,000,000 optical sensors. The matrix can contain several pixels in the range of a few megapixels. However, other embodiments are also possible. Therefore, in configurations where axial rotational symmetry is expected, a circular or concentric arrangement of matrix optical sensors, which can also be called pixels, may be preferred.

As further outlined above, preferably the sensor element may be oriented substantially perpendicular to the optical axis of the detector. Again, the above definitions and tolerances can be referred to with respect to the term "substantially vertical". The optical axis may be a linear optical axis and may be bent and split by using one or more deflection elements and / or by using one or more beam splitters. It is also good. In the latter case, the basically vertical orientation refers to the local optical axis of each branch or beam path of the optical configuration. Additional or alternative, the sensor element may be oriented in a direction different from that towards the object. In particular, if the detector contains two sensor elements, at least one of the sensor elements may be oriented in a direction different from the direction towards the object. For example, at least one of the sensor elements may be oriented with respect to the object perpendicular to the optical axis or at any angle.

As outlined above, by evaluating the central and sum signals, the detector has at least one vertical direction of the object, including the option of determining the vertical coordinates of the entire object or one or more parts thereof. It becomes possible to determine the coordinates. However, in addition, other coordinates of the object, including one or more lateral and / or rotating coordinates, may be determined by the detector, specifically by the evaluator. Thus, as an example, one or more lateral sensors can be used to determine at least one lateral coordinate of an object. As outlined above, for example, the position of at least one optical sensor from which the center signal is generated can provide information about at least one lateral coordinate of the object, for example, a simple lens equation may be an optical transformation. And used to derive the lateral coordinates. Additional or alternative, one or more additional lateral sensors may be used and included in the detector. Various lateral sensors such as the lateral sensors disclosed in WO2014 / 097181A1 and / or other position sensing devices (PSDs) such as quadrant diodes, CCDs or CMOS chips are generally known in the art. .. Additional or alternative, as an example, the detector according to the invention is R.I. A. Street: Technology and Applications of Amorphous Silicon, Springer-Verlag Heidelberg, 2010, 346-349 can include one or more PSDs. Other embodiments are also possible. These devices can also generally be mounted on the detector according to the invention. As an example, a portion of the light beam may be split within the detector by at least one beam splitting element. The split portion can, for example, be guided towards a lateral sensor such as a CCD or CMOS chip or camera sensor, and the lateral position of the light spot produced by the split portion on the lateral sensor is determined thereby. At least one lateral coordinate of the object can be determined. Therefore, the detector according to the present invention can be a one-dimensional detector such as a simple distance measuring device, or can be embodied as a two-dimensional detector or even a three-dimensional detector. In addition, three-dimensional images can also be created by one-dimensionally scanning the scene or environment, as outlined above, or as outlined in more detail below. Therefore, the detector according to the present invention can be specifically one of a one-dimensional detector, a two-dimensional detector, or a three-dimensional detector. The evaluator may be further configured to determine at least one lateral coordinate x, y of the object. The evaluator may be adapted to combine longitudinal and lateral coordinate information to determine the position of an object in space.

The source of irradiation may be adapted to generate and / or project a point cloud such that multiple irradiation areas are generated on a matrix of optical sensors such as CMOS detectors. In addition, disturbances such as speckle and / or disturbances due to external light and / or multiple reflections may be present on the matrix of the photosensor. The evaluator may be adapted to determine at least one region of interest, eg, one or more pixels illuminated by a light beam used to determine the longitudinal coordinates of an object. For example, the evaluator may be adapted to perform filtering methods such as blob analysis and / or object recognition methods.

As mentioned above, the irradiation source may be configured to illuminate the object with at least one light beam having at least two different wavelengths. The source of irradiation may be adapted to produce a first light beam having a first wavelength and a second light beam having a second wavelength. The first light beam and the second light beam may be generated at two different modulation frequencies. For example, the irradiation source is configured to pulse a light source, such as an LED, at two different modulation frequencies. The detector may include at least two optical sensors so that the coupled DPR signal can be determined in addition to the wavelength dependent coupled signal Λ. Specifically, when two or more photosensors are used, a plurality of different distance-dependent quotients can be determined from only one measurement. For example, when exactly two optical sensors are used, the following quotient is possible. The coupled signal Λ is, for example, the sum of all the sensor signals of the optical sensor generated by the light beam having the first wavelength for red, for example, all the optical sensors generated by the light beam having the second wavelength for blue. It may be determined by dividing by the sum of the sensor signals of. Additional or alternative, the coupled signal Λ is the sensor signal of the first optical sensor generated by the light beam having the first wavelength and the sensor signal of the first optical sensor generated by the light beam having the second wavelength. It may be determined by dividing by. Additional or alternative, the coupling signal Λ is the sensor signal of the second optical sensor generated by the light beam having the first wavelength and the sensor signal of the second optical sensor generated by the light beam having the second wavelength. It may be determined by dividing by. Additional or alternative, the coupled DPR signal is light having a first wavelength, for example by dividing the sensor signals of the first and second photosensors generated by the light beam having the first wavelength. It may be determined about the beam. Additional or alternative, the coupled DPR signal is light having a second wavelength, for example by dividing the sensor signals of the first and second photosensors generated by the light beam having the second wavelength. It may be determined about the beam. Each of these quotients can provide distance information. The evaluator may be adapted to verify or check the quality of distance information, for example in terms of signal-to-noise ratio. The evaluator may be adapted to determine combined distance information from different distance information, for example by determining an average value. For example, the detector may be configured to determine the longitudinal coordinate z in the first measurement range and the longitudinal coordinate z _{DPR in the second measurement range.} This can increase the reliability of the distance determination and extend the measurement range. The coupled signal Λ and the coupled DPR signal may be determined independently of each other. The coupling signal Λ may be substantially independent of the location of the detector, but may only depend on the characteristics of the transfer device and the dichroic filter. Thus, different quotients can be selected so that they can validate each other to increase the reliability of the measurement, or cover different measurement ranges to increase the total measurement range of the system. The evaluator may be configured to compare the coupled signal Λ with the coupled DPR signal, especially to recognize mechanical drift due to temperature changes or mechanical stresses, and to recalibrate the system. , Or it may be used to output a coupled longitudinal signal that depends on the coupled signal Λ and the coupled DPR signal Q.

Distance measurement by using a detector according to the invention is performed by mounting one or more additional distance measuring means on the detector and / or by combining the detector with other types of distance measuring means. Can be strengthened.

In a further aspect of the invention, a detector system for determining the position of at least one object is disclosed. The detector system comprises at least one detector according to the invention, such as by one or more of the embodiments disclosed above, or by one or more of the embodiments disclosed in more detail below. The detector system further comprises at least one beacon device adapted to direct at least one light beam towards the detector, the beacon device being attachable to, holdable by, and to the object. At least one of which can be integrated. Further details regarding the beacon device are shown below, including its potentially possible embodiments. Thus, the at least one beacon device may or may be at least one active beacon device that includes one or more sources of irradiation, such as one or more light sources such as lasers, LEDs, and light bulbs. As an example, the light emitted by the irradiation source can have a wavelength of 300-1000 nm, particularly 500-1000 nm. Alternatively, as outlined above, an infrared spectral range, eg, a range of 780 nm to 3.0 μm, may be used. Specifically, a near-infrared region to which a silicon photodiode can be applied, particularly in the range of 700 nm to 1000 nm, can be used. To distinguish between two or more light beams, the light emitted by one or more beacon devices may be unmodulated or modulated, as outlined above. Additionally or optionally, the at least one beacon device may be adapted to reflect one or more light beams towards the detector, such as by including one or more reflective elements. Further, the at least one beacon device may be, or may include, one or more scattering elements adapted to scatter the light beam. Elastic or inelastic scattering can be used there. If at least one beacon device is adapted to reflect and / or scatter the primary light beam towards the detector, the beacon device is adapted so as not to affect the spectral characteristics of the light beam. It may be adapted to change the spectral characteristics of the light beam, such as by changing the wavelength of the light beam.

In a further aspect of the invention, a human machine interface for exchanging at least one information item between a user and a machine is disclosed. The human machine interface comprises at least one detector system according to the embodiments disclosed above and / or one or more of the embodiments disclosed in more detail below. There, at least one beacon device is adapted to be at least one that is directly or indirectly attached to the user or held by the user. The human machine interface is designed to determine at least one position of the user by the detector system, and the human machine interface is designed to assign at least one information item to that position.

In a further aspect of the invention, an entertainment device for performing at least one entertainment function is disclosed. The entertainment device comprises at least one human machine interface according to one or more of the embodiments disclosed above and / or embodiments disclosed in more detail below. The entertainment device is configured to allow the player to enter at least one piece of information via the human machine interface. The entertainment device is further configured to change the entertainment function according to the information.

In a further aspect of the invention, a tracking system for tracking the position of at least one moving object is disclosed. The tracking system comprises at least one detector system according to one or more of embodiments that reference a detector system disclosed above and / or as disclosed in more detail below. The tracking system further comprises at least one tracking controller. The tracking controller is adapted to track a series of positions of an object at a particular point in time.

In a further aspect of the invention, a camera for capturing at least one object is disclosed. The camera comprises at least one detector according to any one of the embodiments disclosed above or with reference to the detectors disclosed in more detail below.

A further aspect of the invention provides a scanning system for determining the depth profile of a scene, which may also include determining at least one position of at least one object. The scanning system comprises at least one detector according to the invention, eg, at least one detector disclosed in one or more of the above embodiments and / or disclosed in one or more of the following embodiments. .. The scanning system further comprises at least one source adapted to scan the scene with at least one light beam, sometimes referred to as an irradiation light beam or a scanning light beam. As used herein, the term "fieldscape" generally refers to a two-dimensional or three-dimensional range, which is visible to the detector, so the two-dimensional or three-dimensional range is at least one geometric. Characteristics or spatial characteristics can be evaluated by the detector. As used further herein, the term "scan" generally refers to continuous measurements in different regions. Therefore, the scan is specifically directed or directed by at least one first measurement with an illuminated beam directed or directed by the first method and a second method different from the first method. It may include at least one second measurement with a light beam. The scan may be a continuous scan or a stepwise scan. Thus, in a continuous or stepwise manner, the illuminated beam can be directed to different regions of the scene and the detector will detect to generate at least one information item, such as at least one longitudinal coordinate for each region. can do. As an example, for scanning an object, one or more illuminated light beams can generate light spots on the surface of the object in a continuous or stepwise manner, producing vertical coordinates for the light spots. .. However, instead, an optical pattern may be used for scanning. The scan may be a point scan or a line scan, or even a scan with a more complex optical pattern. The source of the scanning system can be different from the source of the detector. However, as an alternative, the source of the scanning system may also be completely or partially identical to or integrated with at least one source of the detector.

Accordingly, the scanning system comprises at least one source adapted to emit at least one light beam configured to illuminate at least one dot located on at least one surface of at least one object. obtain. As used herein, the term "dot" refers to a portion of the surface of an object, particularly a small area, which may be selected, for example, by the user of the scanning system to be illuminated by the source. Preferably, the dots are, on the one hand, as small as possible to allow the value of the distance between the source of illumination contained in the scanning system and the surface portion of the object where the dots can be placed as accurately as possible. The size can be indicated, on the other hand, as large as possible so that the user of the scanning system, or the scanning system itself, can detect the presence of dots on the relevant portion of the object surface, especially by automated procedures.

For this purpose, the irradiation source is an artificial irradiation source, in particular at least one laser source and / or at least one incandescent lamp and / or at least one semiconductor light source, such as at least one light emitting diode, particularly organic and / or inorganic. May include light emitting diodes. As an example, the light emitted by the irradiation source can have a wavelength of 300-1000 nm, particularly 500-1000 nm. Additional or alternative, light in the infrared spectral range, such as in the range of 780 nm to 3.0 μm, may be used. Specifically, in the near-infrared region portion to which the silicon photodiode is particularly applicable, light in the near-infrared region portion in the range of 700 nm to 1000 nm can be used. Due to their generally defined beam profile and other properties of handleability, the use of at least one laser source as an irradiation source is particularly preferred. As used herein, the use of a single laser source may be preferred, especially when it is important to provide a small scanning system that can be easily stored and transported by the user. The source of irradiation may therefore preferably be a component of the detector and thus may be integrated within the detector, particularly within the housing of the detector. In a preferred embodiment, the housing of the scanning system in particular may include, for example, at least one display configured to provide distance-related information to the user in an easy-to-read manner. In a more preferred embodiment, the housing of the scanning system in particular may further include at least one button configured to operate at least one function associated with the scanning system, such as setting one or more modes of operation. can. In a more preferred embodiment, the housing of the scanning system in particular may further be configured to anchor the scanning system to a further surface, such as a base plate such as a rubber foot, a base plate containing a magnetic material or a wall holder, or Wall holders and the like may be included, especially to improve the accuracy of distance measurements and / or the maneuverability of the scanning system by the user.

In particular, the source of the scanning system may therefore emit a single laser beam configured to illuminate a single dot located on the surface of the object. By using at least one of the detectors according to the invention, at least one information item about the distance between at least one dot and the scanning system can be generated in this way. Thereby, preferably, the distance between the irradiation system included by the scanning system and the single dot produced by the irradiation source is determined, for example, by using an evaluation device included by at least one detector. Can be done. However, scanning systems may further include additional evaluation systems that may be adapted specifically for this purpose. Alternatively or additionally, the size of the scanning system, in particular the size of the housing of the scanning system, may be considered, and thus simply with a particular point on the housing of the scanning system, such as the leading or trailing edge of the housing. Alternatively, the distance between one dot can be determined. The source may be adapted to generate and / or project a group of points, eg, the source is at least one digital light processing projector, at least one LCOS projector, at least one spatial light modulator; at least one. One diffractive optical element; at least one array of light emitting diodes; one or more of at least one array of laser light sources may be included.

Alternatively, the source of the scanning system can emit two separate laser beams configured to provide each angle, such as a right angle between the emission directions of the beam, thereby the same object. Two distinct dots located on the surface of the surface or two different surfaces of two different objects can be illuminated. However, other values for each angle between the two separate laser beams are possible. This feature is specifically for deriving indirect distances, for example when one or more obstacles are present between the scanning system and the dots and are not directly accessible, or otherwise difficult to reach. Etc., can be adopted for indirect measurement function. As an example, it may therefore be possible to determine the height value of an object by measuring two separate distances and deriving the height using the Pythagoras equation. In particular, in order to be able to maintain a predetermined level for an object, the scanning system further includes at least one level unit, in particular an integrated bubble vial that can be used by the user to maintain a predetermined level. Can be prepared.

As a further alternative, the sources of irradiation of the scanning system are multiple separate laser beams, such as an array of laser beams capable of exhibiting their respective pitches, particularly regular pitches relative to each other, and at least one object. There can be multiple individual laser beams arranged to produce an array of dots located on at least one surface. Specially adapted optical elements such as beam splitters and mirrors may be provided for this purpose, which may allow the generation of the described laser beam arrays. Specifically, the source can be directed to scan an area or volume by using one or more movable mirrors to redirect the light beam in a periodic or aperiodic manner.

Accordingly, a scanning system may provide a static arrangement of one or more dots arranged on one or more surfaces of one or more objects. Alternatively, the irradiation source of the scanning system, in particular one or more laser beams, such as the array of laser beams described above, can exhibit varying intensities over time and / or, especially within the previously described micromirror array. It may be configured to provide one or more light beams that may alternate in emission direction over time by moving one or more mirrors, such as the micromirrors included in. As a result, the source is one of at least one surface of at least one object by using one or more light beams with alternating features, such as those produced by at least one source of scanning device. It may be configured to scan the section as an image. In particular, the scanning system can therefore use at least one row scan and / or line scan, for example to sequentially or simultaneously scan one or more surfaces of one or more objects. Thus, the scanning system can be adapted to measure the angle by measuring three or more dots, or the scanning system is difficult to access using a conventional measuring stick, the roof gable. Can be adapted to measure corners or narrow areas such as. As a non-limiting example, scanning systems are three-dimensionally used, for example in safety laser scanners in production environments, and / or in connection with, for example, 3D printing, body scanning, quality control, etc., to determine the shape of an object. Scanning devices, such as construction applications such as distance meters, logistics applications such as determining the size and volume of luggage, domestic applications such as robot vacuums or mowers, or other types that may include scanning steps. Can be used for various purposes. As a non-limiting example, scanning systems can be used in industrial safety curtain applications. As a non-limiting example, scanning systems may be used to perform yard or garden care functions such as wiping, vacuuming, mopping, or waxing, or mowing or scraping. As a non-limiting example, the scanning system can use an LED source with collimated optics so that the frequency of the source is shifted to a different frequency for more accurate results. And / or may be adapted to use a filter to attenuate a particular frequency while transmitting other frequencies. As a non-limiting example, the scanning system and / or the irradiation source may be rotated as a whole using a dedicated motor during operation, or only a specific optical package such as a mirror, beam splitter, etc. may be rotated. The scanning system can have a full 360 degree field of view, or can be moved or rotated out of plane to further expand the scanning range. In addition, the irradiation source can be actively directed in a predetermined direction. In addition, slip rings, optical data transmissions, or inductive coupling can be used to allow rotation of wired electrical systems.

As a non-limiting example, the scanning system may be mounted on a tripod and directed at an object or area with several corners and surfaces. One or more flexible and movable laser sources are attached to the scanning system. One or more laser sources can move so that they illuminate a point of interest. When the designated button on the scanning system is pressed, the position of the irradiation point with respect to the scanning system is measured and the position information is transmitted to the mobile phone via the wireless interface. Location information is stored in the mobile phone application. The laser source is further moved to illuminate the point of interest, its position is measured and transmitted to the mobile phone application. A mobile phone application can transform a set of points into a 3D model by connecting adjacent points in a plane. The 3D model may be stored and further processed. The distance and / or angle between the measured points or surfaces may be displayed directly on the display attached to the scanning system or on the mobile phone to which the location information is transmitted.

As a non-limiting example, a scanning system may include two or more flexibly movable laser sources for projecting points and one additional movable laser source for projecting lines. The line can be used to place two or more laser spots along the line, and the display of the scanning device can measure the distance between the two or more laser spots that can be placed along the line, such as equidistant distances. Can be displayed. In the case of two laser spots, a single laser source may be used and the distance of the projected points is varied using one or more beam splitters or prisms, the beam splitter or prism being projected. You can move the spots to move away from or closer to each other. In addition, scanning systems can be adapted to project additional patterns such as right angles, circles, squares, triangles, etc., along which laser spots can be projected and measurements made by measuring their position. can.

As a non-limiting example, the scanning system may be adapted to support work using tools such as wood or metal processing tools such as saws, punches and the like. Thus, the scanning system can measure the distance between the two opposite directions and adapt the two measured distances or the sum of the distances to be displayed on the display. In addition, the scanning system is moved when the scanning system is placed on the surface, until the laser point automatically leaves the scanning system along the surface and the distance measurement shows a sudden change due to a corner or edge of the surface. As such, it can be adapted to measure the distance to the edge of the surface. This makes it possible to measure the distance to the end of the plate while the scanning device is placed on the plate but away from its end. In addition, the scanning system can measure the distance to the end of the plate in one direction and project a line or circle or point in the opposite direction at a specified distance. The scanning system may be adapted to project a line or circle or point at a distance dependent on the distance measured in the opposite direction, eg, depending on a given total distance. This allows you to operate the tool, such as a saw or hole punch, in the projected position while placing the scanning system at a safe distance from the tool, while at the same time using the tool at a given distance to the edge of the board. Make it possible to run. Further, the scanning system may be adapted to project points, lines, etc. in two opposite directions at a predetermined distance. When the total distance is changed, only one of the projected distances is changed.

As a non-limiting example, the scanning system is placed on a surface, such as a surface on which tasks such as cutting, sawing, drilling, etc. are performed, and on a scanning system. It may be adapted to project a line on the surface at a predetermined distance, which can be adjusted with a button or the like.

As a non-limiting example, scanning systems are three-dimensionally used, for example in safety laser scanners in production environments, and / or in connection with, for example, 3D printing, body scanning, quality control, etc., to determine the shape of an object. Scanning devices, such as construction applications such as distance meters, logistics applications such as determining the size and volume of luggage, domestic applications such as robot vacuums or mowers, or other types that may include scanning steps. Can be used for various purposes.

The transfer device can be designed to supply light propagating from the object to the detector, preferably continuously, to the photosensor, as described above. As described above, this supply can optionally be achieved by imaging or by the non-imaging characteristics of the transfer device. In particular, the transfer device can also be designed to collect the electromagnetic radiation before it is delivered to the optical sensor. The transfer device is, for example, an optical beam having defined optical properties, eg, at least one linear coupling of a defined or exactly known beam profile, eg, a Gaussian beam, in particular at least one having a known beam profile. Depending on the source designed to provide one laser beam, it can also be a component of at least one arbitrary source, in whole or in part.

WO2012 / 110924A1 can be referred to for potentially possible embodiments of any irradiation source. Furthermore, other embodiments are possible. The light emitted from the object can be generated from the object itself, but optionally has another origin and can propagate from this origin to the object and subsequently towards the lateral and / or longitudinal optical sensors. .. The latter case is done, for example, by at least one source of irradiation used. The irradiation source may be, for example, an ambient irradiation source or may include it, and / or may be an artificial irradiation source or include it. As an example, the detector itself may have at least one source of irradiation, such as at least one laser and / or at least one incandescent lamp and / or at least one semiconductor irradiation source, such as at least one light emitting diode, particularly organic and / or inorganic. A light emitting diode can be included. Due to their generally defined beam profile and other properties of handleability, the use of one or more lasers as an irradiation source or part thereof is particularly preferred. The irradiation source itself can be a component of the detector or can be formed independently of the detector. The source of irradiation can be integrated specifically with a detector, eg, the housing of the detector. Alternatively or additionally, the at least one source of irradiation may also be integrated into at least one beacon device, or one or more beacon devices, and / or an object, or connected or spatially coupled to the object. obtain.

Light emitted from any one or more beacon devices can therefore be emitted from an irradiation source, and / or in addition to the option that the light is generated from the respective beacon device itself. Can be excited by. As an example, electromagnetic light emitted from a beacon device can be emitted by the beacon device itself and / or reflected by the beacon device and / or scattered by the beacon device before it is fed to the detector. In this case, the emission and / or scattering of the electromagnetic radiation can be done without or with such an effect on the spectrum of the electromagnetic radiation. Thus, as an example, wavelength shifts can occur during scattering, for example according to Stokes or Raman. In addition, the emission of light can produce luminescence, in particular phosphorescence and / or fluorescence, for example by exciting a primary irradiation source, such as an object or a partial region of an object. In principle, other release processes are possible. When reflections occur, the object can have, for example, at least one reflection area, in particular at least one reflection surface. The reflective surface can be part of the object itself, but may be, for example, a reflector connected to or spatially coupled to the object, eg, a reflector connected to the object. If at least one reflector is used, it can also be considered as part of the detector connected to the object, eg, independently of the other components of the detector.

The beacon device and / or at least one optional source may generally emit light in at least one of the following: infrared spectral range, preferably in the range of 200 nm to 380 nm; visible spectral range ( 380 nm to 780 nm); an infrared spectral range, preferably in the range of 780 nm to 3.0 micrometers, more preferably a portion of the near infrared region to which silicon photodiodes are specifically applicable in the range of 700 nm to 1000 nm. For thermal imaging applications, the target can emit light in the far infrared spectral range, more preferably in the range of 3.0 micrometers to 20 micrometers. For example, at least one source is adapted to emit in the visible spectral range, preferably in the range of 500 nm to 780 nm, most preferably in the range of 650 nm to 750 nm, or 690 nm to 700 nm. For example, at least one source is adapted to emit light in the infrared spectral range. However, other options are possible.

The supply of the light beam to the light sensor can be made in particular such that a light spot having a cross section of, for example, a circle, an ellipse, or a different shape is generated on any sensor area of the light sensor. As an example, the detector can have a visual range in which an object can be detected, in particular a solid angle range and / or a spatial range. Preferably, the transfer device is such that when the light spot is, for example, an object placed within the visual range of the detector, the light spot is placed entirely on and / or on the sensor area of the light sensor. Can be designed. As an example, to ensure this condition, the sensor area may be selected to have a corresponding size.

In a further aspect, the invention is a detector according to the invention, in particular, such as by one or more embodiments that reference a detector as disclosed above, or as disclosed in more detail below. Disclosed is a method for determining the position of at least one object by using a detector such as. Nevertheless, other types of detectors can be used. The method of the present invention includes the following method steps, which may be performed in a predetermined order or in a different order. In addition, there may be one or more additional method steps not listed. Further, one, more than one, or even all of the method steps may be performed repeatedly.

The method is as follows:
-Providing at least one dichroic filter with wavelength-dependent and angle-dependent transmission spectra;
-A step of providing at least one optical sensor, wherein the optical sensor has at least one photosensitive area, and the optical sensor responds to irradiation of the photosensitive area by a light beam passing through the dichroic filter. Is designed to generate at least one sensor signal;
-The step of illuminating the photosensitive area of the optical sensor with a light beam that has passed through the dichroic filter, whereby the photosensitive area produces at least one sensor signal; and-has at least one first wavelength. A step of determining a first sensor signal generated in response to irradiation by a light beam and a second sensor signal generated in response to irradiation by a light beam having at least one second wavelength;
-A step of evaluating a signal component and thereby determining at least one longitudinal coordinate z of the object, wherein the evaluation derives a coupled signal Λ of the first signal and the second signal. include.

See detectors as described above for details, options and definitions. Thus, specifically, as outlined above, the method comprises a detector according to the invention, eg, according to one or more embodiments given above or in more detail below. Can include use.

In a further aspect of the invention, the use of the detector according to the invention according to one or more embodiments given above, or given in more detail below, is position measurement in traffic technology; recreational use; optical data storage. Applications; Security applications; Surveillance applications; Safety applications; Human machine interface applications; Tracking applications; Photographic applications; Imaging or camera applications; Mapping applications to generate at least one spatial map; Homing or tracking beacon detectors for vehicles; It is proposed for the purpose of use selected from the group consisting of machine vision use; robot use; quality control use; manufacturing use.

The object may generally be a living thing or a non-living thing. The detector or detector system may include at least one object, whereby the object forms part of the detector system. However, preferably, the object can move independently of the detector in at least one spatial dimension. The object may be generally any object. In one embodiment, the object may be a rigid object. Other embodiments are also possible, such as, for example, an embodiment in which the object is a non-rigid body, or an object whose shape can be changed.

As outlined below in more detail, the present invention specifically aims to track the position and / or movement of a person, for example, for controlling a machine, gaming, or simulating a sport. Can be used for. In this embodiment or another embodiment, specifically, the object is selected from the group consisting of sporting goods, preferably goods selected from the group consisting of rackets, clubs, bats; clothing; hats; shoes. obtain.

Therefore, in general, devices according to the invention, such as detectors, can be applied in a variety of fields. Specifically, the detector is selected from the group consisting of location measurement in traffic technology; entertainment use; security use; human machine interface use; tracking use; photographic use; imaging or camera use; room, building, and street. Mapping applications for generating at least one spatial map, such as at least one space; mobile applications; web cams; audio devices; Dolby surround audio systems; computer peripheral devices; gaming applications; camera or video applications; security applications; surveillance applications Selected from the group consisting of: automotive use; transportation use; medical use; sports use; machine vision use; vehicle use; airplane use; marine use; spacecraft use; building use; building use; map making use; manufacturing use. The intended use may apply. Additional or alternative uses in local and / or global positioning systems can also be mentioned, in particular, landmark-based positioning and / or navigation, specifically vehicles or other vehicles (specifically, vehicles or other vehicles). For example, trains, motorcycles, bicycles, freight trucks, etc.), robotic use, or pedestrian use. In addition, indoor positioning systems may be mentioned, for example, for domestic applications and / or potential applications such as robots used in manufacturing, transportation, monitoring or maintenance techniques.

The devices according to the invention may be used in mobile phones, tablet computers, laptop computers, smart panels, or other stationary or mobile or wearable computers, or in communication applications. Accordingly, the apparatus according to the invention may be combined with at least one active light source, for example, a light source that emits light in the visible or infrared spectral range, in order to improve performance. Thus, as an example, the device according to the invention can be used as a camera and / or sensor, for example in combination with mobile software for scanning and / or detecting environments, objects, and organisms. The apparatus according to the present invention can be combined with a 2D camera, for example a conventional camera, in order to enhance the imaging effect. The device according to the invention is further used as an input device for controlling a mobile device for monitoring and / or for recording purposes, or in particular in combination with voice and / or gesture recognition. obtain. Accordingly, specifically, a device according to the invention, also referred to as an input device, which functions as a human machine interface, for controlling other electronic devices or components via a mobile device such as a mobile phone for mobile applications. Can be used for etc. By way of example, mobile applications, including at least one device according to the invention, can be used to control a television set, game console, music player or music device, or other entertainment device.

For further uses and uses of the present invention, WO2018 / 091649A1, WO2018 / 091638A1 and WO2018 / 091640A1 can be referred to, the contents of which are incorporated by reference.

The evaluator is one or more integrated circuits, such as one or more application specific integrated circuits (ASICs), and / or one or more computers, preferably one or more microcomputers, and / or microcontrollers, field compilers. It may be one or more data processing devices, such as an array or a digital signal processor, or may include them. Additional components such as one or more AD converters and / or one or more filters, such as one or more devices for receiving and / or preprocessing sensor signals, eg, one or more processing devices. , And / or a data acquisition device may be included. Further, the evaluation device may include one or more measuring devices such as one or more measuring devices for measuring current and / or voltage. Further, the evaluation device may include one or more data storage devices. In addition, the evaluator may include one or more interfaces, such as one or more wireless interfaces and / or one or more wired interfaces.

The at least one evaluator is adapted to run at least one computer program, eg, at least one computer program adapted to perform or support one or more or all method steps of the method according to the invention. May be done. As an example, by using a sensor signal as an input variable, one or more algorithms that can determine the position of an object can be implemented.

The evaluator is of displaying, visualizing, analyzing, distributing, communicating, or further processing information, such as information obtained by the optical sensor and / or by the evaluator. It may or may be connected to at least one additional data processing device that may be used for one or more. The data processing device is connected to or integrated with at least one of a display, a projector, a monitor, an LCD, a TFT, a loudspeaker, a multi-channel sound system, an LED pattern, or an additional visualization device, for example. can do. Information or unencrypted using one or more of emails, text messages, telephones, Bluetooth®, Wi-Fi, infrared or internet interfaces, ports or connectors. It may be further connected to or integrated with at least one of a communication device or communication interface, connector or port capable of sending information. In addition, systems such as processors, graphics processors, CPUs, Open Multimedia Applications Platform (OMAP ™), integrated circuits, Apple A-series or Samsung S3C2 series products, microcontrollers, or microprocessors-on-chips, 1 A voltage regulator, such as a timing source such as an oscillator or phase synchronization loop, a counter timer, a real-time timer, or a power-on-reset-generator, such as one or more memory blocks, such as ROM, RAM, EEPROM, or flash memory. It can be further connected to or integrated with at least one of the management circuit or DMA controller. The individual units may be further connected by a bus, such as the AMBA bus, or integrated into the Internet of Things or Industry 4.0 type networks.

The evaluation device and / or the data processing device may be, for example, one or more serial or parallel interfaces or ports, USB, Centronics Port, FireWire®, HDMI®, Ethernet®, Bluetooth®. External interfaces or ports such as, RFID, Wi-Fi, USART, or SPI, or, for example, one or more analog interfaces or ports such as HDMI or DAC, or RGB interfaces such as CameraLink. It can be connected or have standardized interfaces or ports to additional devices such as the 2D camera device used. Further, the evaluation device and / or the data processing device may be connected by one or more of a processor interface or port, an FPGA-FPGA-interface, or a serial or parallel interface port. The evaluation device and the data processing device are further connected to one or more of an optical disk drive, a CD-RW drive, a DVD + RW drive, a flash drive, a memory card, a disk drive, a hard disk drive, a solid state disk, or a solid state hard disk. It's okay.

The evaluation device and / or the data processing device includes, for example, a phone connector, an RCA connector, a VGA connector, a male-female homologous connector, a USB connector, an HDMI (registered trademark) connector, an 8P8C connector, a BCN connector, an IEC60320 C14 connector, and an optical fiber connector. Can be connected to or have by one or more external connectors of the D subminiature connector, RF connector, coaxial connector, SCART connector, XLR connector, and / or one of these connectors. At least one suitable socket for one or more may be integrated.

Possible embodiments of a single device that integrates one or more detectors according to the present invention, such as an optical sensor, an optical system, an evaluation device, a communication device, a data processing device, an interface, a system-on-chip, a display. An evaluation device or data processing device, such as integrating one or more of devices, or additional electronic devices, is a mobile phone, personal computer, tablet PC, television, game console, or additional entertainment device. In a further embodiment, the 3D camera functionality described in more detail below can be integrated into the equipment available in conventional 2D digital cameras without any significant difference in the housing or appearance of the equipment. The only significant difference for is the ability to acquire and / or process 3D information. Further, the device according to the present invention can be used for a 360 degree digital camera or a surround view camera.

Specifically, an embodiment in which a detector such as an evaluation device and / or a data processing device and / or a part thereof is integrated is a part of a detector and / or a detector such as an evaluation device, and / or An embodiment incorporating a data processing device can be a mobile phone integrated with a display device, a data processing device, an optical sensor, optionally a sensor optical system, and an evaluation device for the function of a 3D camera. The detector according to the invention may be specifically suitable for integration into entertainment devices and / or communication devices such as mobile phones.

As mentioned above, the human machine interface can include a plurality of beacon devices that are directly or indirectly attached to the user and adapted to be at least one held by the user. Thus, each of the beacon devices can be independently attached to the user by any suitable means, such as a suitable fixing device. Additionally or alternatively, the user holds at least one beacon device or one or more beacon devices in his hand and / or wears clothing containing at least one beacon device and / or beacon device on a body part. By doing so, it can be held and / or carried.

The beacon device can generally be any device that can be detected by at least one detector and / or any device that facilitates detection by at least one detector. Thus, as outlined above, or further outlined below, the beacon device is detected by the detector, for example, by having one or more sources for producing at least one light beam. Can be an active beacon device adapted to generate at least one light beam. Additionally, as an alternative, the beacon device is fully or partially passive, for example, by providing one or more reflective elements adapted to reflect the light beam produced by a separate source. It may be designed as a type beacon device. The at least one beacon device may be permanently or temporarily attached to the user in a direct or indirect manner, and / or may be carried or held by the user. The attachment is, for example, by using one or more attachment means and / or by the user himself, eg, by the user holding at least one beacon device by hand, and / or by the user wearing the beacon device. May be done by.

Additional or alternative, the beacon device is at least one attached to the object and integrated with the object held by the user, which, in the sense of the present invention, is the beacon device. Should be included in the meaning of the user's choice of holding. Therefore, as outlined in more detail below, the beacon device may be part of a human machine interface and may be held or carried by the user, the orientation of which may be recognized by the detector device. It may be attached to or integrated with the control element. Thus, in general, the invention also refers to a detector system comprising at least one detector device according to the invention, further comprising at least one object, wherein the beacon device is attached to and held by the object. , At least one of those integrated into an object. As an example, the object may preferably form a control element, the orientation of which may be perceived by the user. Therefore, the detector system may be part of a human machine interface, as outlined above, or as outlined in more detail below. As an example, a user can process a control element in a particular way to transmit one or more pieces of information to the machine, for example, to transmit one or more commands to the machine.

Alternatively, the detector system may be used in other ways. Thus, by way of example, the object of the detector system may be different from the user or a part of the user's body, and by way of example, it may be an object that moves independently of the user. For example, the detector system may be used to control equipment and / or to control industrial processes, such as manufacturing and / or robotics processes. Thus, for example, an object is a machine component such as a machine and / or a robot arm, the orientation of which can be detected by using a detector system.

The human machine interface may be adapted such that the detector device produces at least one information item about the position of the user or the position of at least one body part of the user. Specifically, when the embodiment in which at least one beacon device is attached to the user is known, at least one with respect to the position and / or orientation of the user or the user's body part by evaluating the position of the at least one beacon device. You can get two information items.

The beacon device is preferably one of a beacon device that can be attached to the user's body or a user's body part, and a beacon device that can be held by the user. As outlined above, the beacon device may be designed as a fully or partially active beacon device. Thus, the beacon device can include at least one light beam transmitted to the detector, preferably at least one source adapted to produce at least one light beam with known beam characteristics. .. Additional or alternative, the beacon device comprises at least one reflector adapted to reflect the light produced by the source, thereby producing a reflected light beam transmitted to the detector. ..

Objects that can form part of the detector system can generally have any shape. Preferably, the object that is part of the detector system may be a control element that can be handled by the user, for example manually. As an example, the control element is at least one element selected from the group consisting of gloves, jackets, hats, shoes, trousers and suits, hand-held canes, bats, clubs, rackets, whips, toys such as toy guns. Or may include it. Thus, as an example, the detector system may be part of a human machine interface and / or entertainment device.

As used herein, an "entertainment device" is a device capable of fulfilling the leisure and / or entertainment objectives of one or more users, also referred to herein as one or more players. As an example, entertainment devices can serve gaming purposes, preferably computer gaming purposes. Thus, the entertainment device may include a computer, computer network, or computer system that is implemented within a computer, computer network, or computer system, or that runs one or more gaming software programs.

Entertainment devices include at least one human machine interface according to the invention, eg, according to one or more embodiments disclosed above and / or one or more embodiments disclosed below. The entertainment device is designed to allow at least one information item to be entered by the player using a human machine interface. At least one information item may be transmitted to and / or used by the controller and / or computer of the entertainment device. The at least one information item may preferably include at least one command adapted to influence the progress of the game. Thus, by way of example, at least one information item can include at least one item of information regarding the orientation of the player and / or at least a portion of the body part of the player or more, thereby allowing the player. It makes it possible to simulate the specific position and / or orientation and / or behavior required for gaming. For example, one of the following movements: dance; running; jump; racket swing; bat swing; club swing; pointing from one object to another, for example, aiming a toy gun at a target. One or more may be simulated and transmitted to the controller and / or computer of the entertainment device.

As part of or as a whole of the entertainment device, preferably, the controller and / or computer of the entertainment device is designed to change the entertainment function in response to information. Therefore, as mentioned above, the progress of the game may be affected by at least one information item. Thus, the entertainment device may be separate from the evaluator of at least one detector and / or may be wholly or partially identical to the at least one evaluator, or at least one. It may include one or more controllers, which may even include one evaluator. Preferably, the at least one controller can include one or more data processing devices such as one or more computers and / or microcontrollers.

Further as used herein, a "tracking system" is a device adapted to collect information about a series of past positions in at least one object and / or at least a portion of the object. Additionally, the tracking system may be adapted to provide information about at least one future position and / or orientation predicted for at least one object or at least a portion of the object. The tracking system has at least one tracking controller, which is fully or partially as an electronic device, preferably at least one data processing device, more preferably at least one computer or microcontroller. Can be embodied in. Again, at least one tracking controller may be fully or partially equipped with at least one evaluator and / or may be part of at least one evaluator and / or completely. Alternatively, it may be partially the same as at least one evaluation device.

The tracking system may include, for example, at least one detector as disclosed in one or more embodiments listed above and / or as disclosed in one or more embodiments below. Includes at least one detector according to the invention. The tracking system further includes at least one tracking controller. The tracking controller records a set of positions of an object at a particular point in time, eg, a group of data or data pairs, each group of data or data pairs containing at least one position information and at least one time information. By being adapted to track.

The tracking system may further include at least one detector system according to the invention. Thus, in addition to at least one detector and at least one evaluator and any at least one beacon device, the tracking system may include the object itself or a portion thereof, eg, at least one control element including a beacon device, or a beacon. The device can include the control element, which can be attached or integrated directly or indirectly with the object to be tracked.

The tracking system may be adapted to initiate one or more operations in the tracking system itself and / or in one or more separate devices. For the latter purpose, the tracking system, preferably the tracking controller, may have one or more wireless and / or wired connection interfaces and / or other types of control connections to initiate at least one operation. good. Preferably, the at least one tracking controller may be adapted to initiate at least one movement according to at least one actual position of the object. As an example, the action is to predict the future position of an object; point at least one device at the object; point at least one device at the detector; illuminate the object; illuminate the detector, It can be selected from the group consisting of.

As an example of the use of a tracking system, a tracking system may be used to continuously direct at least one first object to at least one second object, even if the first and / or second object is moving. good. Similarly, potential examples can be found for industrial applications such as robotics and / or for the purpose of continuing to work on an article even while it is in motion, such as during manufacturing on a production line or assembly line. Additional or alternative, tracking systems are used to continuously illuminate an object, for example by continuously directing the source of radiation at the object, even though the object may be moving. Can be used. Further applications can be found in communication systems, for example, in communication systems for continuously transmitting information to a moving object by pointing the transmitter at the moving object.

The proposed devices and methods offer many advantages over known detectors of this type. Therefore, the detector can generally avoid the shortcomings of the known prior art systems disclosed above. Specifically, the device and method make it possible to use a simple and inexpensive commercially available semiconductor sensor such as a silicon photodiode.

Overall, the following embodiments are considered preferred in the context of the present invention.

Embodiment 1: A detector for determining the position of at least one object.
-With at least one dichroic filter;
-At least one optical sensor, wherein the optical sensor has at least one photosensitive area, and the optical sensor has at least one in response to irradiation of the photosensitive area by a light beam passing through the dichroic filter. With at least one optical sensor designed to generate a sensor signal;
-A first sensor signal generated in response to irradiation by the light beam having at least one first wavelength and a second sensor signal generated in response to irradiation by the light beam having at least one second wavelength. At least one evaluation device configured to determine the sensor signal of the object, at least one longitudinal coordinate z of the object by evaluating the coupling signal Λ from the first and second sensor signals. With an evaluation device configured to determine
A detector with.

Embodiment 2: The dichroic filter has wavelength-dependent and angle-dependent transmission spectra, and the dichroic filter is from 5 nm / 30 ° to 100 nm / 30 °, preferably 7 nm / 30 ° to 80 nm / 30 °. , More preferably, a detector according to the preceding embodiment having an angle dependence from 9 nm / 30 ° to 50 nm / 30 °.

Embodiment 3: The detector is a detector according to any one of the preceding embodiments, further comprising an irradiation source configured to illuminate the object with at least one light beam having at least two different wavelengths. ..

Embodiment 4: Any of the preceding embodiments, wherein the detector comprises at least one transfer device having at least one focal length in response to at least one incident light beam propagating from the object to the detector. A detector with one or the other.

Embodiment 5: The evaluator is configured to use at least one predetermined relationship between the coupling signal Λ and the longitudinal coordinates to determine the longitudinal coordinates, preceded. A detector according to any one of the embodiments.

Embodiment 6: The evaluation device divides the first and second sensor signals, divides a multiple of the first and second sensor signals, and aligns the first and second sensor signals. A detector according to any one of the preceding embodiments configured to derive said coupling signal Λ by one or more of dividing the coupling.

Embodiment 7: The evaluation device is configured to determine the first radiant intensity of the first sensor signal and the second radiant intensity of the second sensor signal, and the evaluation device determines the combined signal Λ. A detector according to any one of the preceding embodiments configured to determine the ratio of the first radiant intensity to the second radiant intensity for derivation.

Embodiment 8: The detector comprises at least two photosensors, wherein the photosensor is a detector according to any one of the preceding embodiments, which is a bicelle, a split electrode PSD or a partial diode of a quadrant diode.

Embodiment 9: A detector according to any one of the preceding embodiments, wherein the detector has at least two optical sensors and the optical sensor has at least one CMOS sensor.

Embodiment 10: The detector has at least two optical sensors, each of the optical sensors has at least one photosensitive area, and each of the optical sensors is due to an optical beam that has passed through the dichroic filter. Designed to generate at least one sensor signal in response to irradiation of each photosensitive area, at least one of the optical sensors is configured to generate a first DPR sensor signal of the optical sensor. At least one is configured to generate a second DPR sensor signal, the evaluation device in the longitudinal direction of the object by evaluating the coupled DPR signal Q from the first and second DPR sensor signals. A detector according to any one of the preceding embodiments configured to determine the coordinate z _DPR.

Embodiment 11: The evaluation device is configured to derive the combined DPR signal Q by the following mathematical formula 6.
Here, x and y are lateral coordinates, A1 is the first area of the beam profile at the sensor position of the optical sensor of the light beam that has passed through the dichroic filter, and A2 is the dichroic filter. The second area of the beam profile at the sensor position of the light sensor of the light beam, where E (x, y, z _o ) indicates the beam profile given at the object distance z _o , any of the three preceding embodiments. One detector.

Embodiment 12: The first DPR sensor signal includes information on the first area of the beam profile, the second DPR sensor signal contains information on the second area of the beam profile, and the beam profile. The detector according to the preceding embodiment, wherein the first area and the second area of the beam profile are one or both of adjacent or overlapping regions.

Embodiment 13: One of the first area and the second area has the substantial edge information of the beam profile, and the other of the first area and the second area has the substantial center information of the beam profile. The evaluation device divides the edge information and the center information, divides the edge information and a multiple of the center information, and divides the linear combination of the edge information and the center information. A detector according to any one of the preceding two embodiments configured to derive the combined DPR signal Q by one or more of the preceding embodiments.

Embodiment 14: The first wavelength and the second wavelength of the light beam are different, and the difference between the wavelengths, particularly the difference between the peaks, is at least 1 nm, preferably at least 10 nm, more preferably at least 50 nm. A detector according to any one of the two embodiments.

Embodiment 15: A detector system for determining the position of at least one object, wherein the detector system has at least one detector according to any one of the preceding embodiments, said detection. The instrument system further includes at least one beacon device adapted to direct at least one light beam towards the detector, the beacon device being attachable to, held by, and integrated with the object. A detector system that is at least one of the possible.

Embodiment 16: A human machine interface for exchanging at least one item of information between a user and a machine, said human machine interface comprising at least one detector system according to a preceding embodiment. The at least one beacon device is adapted to at least one of those directly or indirectly attached to the user and those held by the user, the human machine interface being adapted to the user by the detector system. The human machine interface is designed to determine at least one position, and the human machine interface is designed to assign at least one information item to the position.

Embodiment 17: An entertainment device for performing at least one entertainment function, wherein the entertainment device has at least one human machine interface according to a preceding embodiment, and the entertainment device is provided by the human machine interface. An entertainment device designed to allow a player to enter at least one information item, wherein the entertainment device is designed to change the entertainment function according to the information.

Embodiment 18: A tracking system for tracking the position of at least one moving object, wherein the tracking system comprises at least one detector system according to any one of the preceding embodiments that reference the detector system. The tracking system further comprises at least one tracking controller, the tracking system being adapted to track a series of positions of the object at a particular point in time.

Embodiment 19: A scanning system for determining the depth profile of a scene, said scanning system comprising at least one detector according to any one of the preceding embodiments with reference to the detector. Further comprises a scanning system further comprising at least one irradiation source adapted to scan the scene with at least one light beam.

20: A camera for imaging at least one object, wherein the camera has at least one detector according to any one of the preceding embodiments that refers to the detector.

21: A readout device for an optical storage medium, comprising at least one detector according to any one of the preceding embodiments with reference to the detector.

Embodiment 22: A method for determining the position of at least one object, the following steps:
-Steps to provide at least one dichroic filter;
-A step of providing at least one optical sensor, wherein the optical sensor has at least one photosensitive area, and the optical sensor responds to irradiation of the photosensitive area by a light beam passing through the dichroic filter. Is designed to generate at least one sensor signal;
-The step of illuminating the photosensitive area of the light sensor with the light beam that has passed through the dichroic filter, whereby the photosensitive area produces at least one sensor signal; and-at least one first wavelength. A step of determining a first sensor signal generated in response to irradiation by the light beam having and a second sensor signal generated in response to irradiation by the light beam having at least one second wavelength. ;
-A step of evaluating the first sensor signal and the second sensor signal, thereby determining at least one longitudinal coordinate z of the object, wherein the evaluation is the first signal and the second. Including deriving the combined signal Λ of the signal,
How to have.

Embodiment 23: Use of the detector by any one of the preceding embodiments with reference to the detector, location measurement in traffic technology; recreational use; optical data storage use; security use; monitoring use; safety use. Human machine interface applications; Logistics applications; Endoscopic applications; Medical applications; Tracking applications; Photographic applications; Machine vision applications; Robot applications; Quality control applications; 3D printing applications; Augmented reality applications; Manufacturing applications; Optical data storage and readout Use in combination with; use of the detector for a purpose of use selected from the group consisting of.

Further optional details and features of the invention are evident from the description of the preferred exemplary embodiments that follow in connection with the dependent claims. In this context, a particular feature may be performed alone or in combination with other features. The present invention is not limited to exemplary embodiments. Exemplary embodiments are schematically shown in the figure. The same reference digit in each figure refers to an element having the same element or function, or an element corresponding to each other in terms of the function.

Specifically, in the figure:
It is a figure which shows the exemplary embodiment of the detector by this invention. It is a figure which shows the transmission spectrum of the dichroic filter by this invention. It is a figure which shows the experimental result of the normalized signal ratio of a different distance and LED voltage. It is a figure which shows the experimental result of the measured distance vs. the actual distance. It is a figure which shows the exemplary embodiment of the detector, the detector system, the human machine interface, the entertainment device, the tracking system, the scanning system, and the camera according to this invention.

Detailed Description of Embodiments FIG. 1 shows a schematic diagram of an exemplary embodiment of a detector 110 for determining the position of at least one object 112. In FIG. 1, the object 112 is shown for two different object distances. The detector 110 has at least one photosensor 114 with at least one photosensitive area 116. The object 112 may have at least one beacon device 118, from which the light beam 120, also referred to as the incident light beam, propagates toward the detector 110. Additional or alternative, the detector may have at least one source 122 for irradiating the object 112, which is not shown here. As an example, the irradiation source 120 may be configured to generate an irradiation light beam for irradiating the object 112. Specifically, the irradiation source 120 may have at least one laser and / or a laser source. Various types of lasers, such as semiconductor lasers, may be employed. Additional or alternative, non-laser light sources such as LEDs and / or light bulbs may be employed. The irradiation source 120 is an artificial irradiation source, particularly at least one laser source and / or at least one incandescent lamp and / or at least one semiconductor light source, for example, at least one light emitting diode, particularly organic and / or inorganic light emitting diode. May include. As an example, the light emitted by the irradiation source 120 may have a wavelength of 300-1000 nm, particularly 500-1000 nm. Additional or alternative, light in the infrared spectral region, eg, in the range of 780 nm to 3.0 μm, may be used. Specifically, a portion in the near infrared region to which a silicon photodiode can be applied, specifically, light in the range of 700 nm to 1000 nm may be used. Further, the irradiation source 120 may be configured to emit modulated light or unmodulated light. When multiple sources 120 are used, the different sources may have different modulation frequencies that can later be used to distinguish the light beam.

The irradiation source 120 may be configured to illuminate the object with at least one light beam having at least two different wavelengths. For example, the irradiation source 120 may have at least two light sources, the first light source may be configured to generate at least one light beam having a first wavelength, and the second light source may have a first wavelength. It may be configured to generate at least one light beam having a second wavelength different from that of. For example, the irradiation source 120 may have at least one multi-wavelength light source. The source 120 may include at least one filter element configured to selectively generate light beams having different wavelengths. The irradiation source 120 may be configured to pulse generate a light beam having a first wavelength and a light beam having a second wavelength having different frequencies.

As an example, the light beam 120 may propagate along the optical axis 124 of the detector 110. However, other embodiments are feasible. The photosensitive area 116 may be oriented towards the object 112. The photodetector 110 may include at least one transfer device 126, particularly such as at least one lens or lens system for beam shaping. The transfer device 126 has at least one focal length depending on the incident light beam 120 propagating from the object 112 to the detector 110. The transfer device 126 may have an optical axis 128, and the transfer device 126 and the optical sensor 114 may preferably have a common optical axis. The transfer device 126 may form a coordinate system. The direction parallel to or antiparallel to the optical axes 124,128 may be defined as the vertical direction, the direction perpendicular to the optical axes 124,128 may be defined as the horizontal direction, and the vertical coordinate z is the optical axis 124. , 128, where d is the spatial offset from the optical axes 124,128. As a result, the light beam 120 is focused, for example, on one or more focal points, and the beam width of the light beam 120 is the longitudinal coordinate z of the object 112, eg, between the detector 110 and the beacon device 118 and / or the object 112. It may depend on the distance. The light sensor 114 may be arranged off-focus.

The detector 110 has at least one dichroic filter 130. The dichroic filter 130 may be an interference filter having a high angle dependence. The dichroic filter may have an angle dependence of 5 nm / 30 ° to 100 nm / 30 °, preferably 7 nm / 30 ° to 80 nm / 30 °, more preferably 9 nm / 30 ° to 50 nm / 30 °. .. The dichroic filter may have wavelength-dependent and angle-dependent transmission spectra. Electromagnetic waves that collide with the first surface, for example the surface of the dichroic filter 130, may be partially absorbed and / or reflected and / or transmitted, depending on the characteristics of the dichroic filter. The dichroic filter 130 allows the light having the first wavelength, particularly the light of the light beam 120, to pass through the dichroic filter 130, and the light having the second wavelength, particularly the light of the light beam 120, is filtered. As such, it may be configured to reflect light having a second wavelength. Most of the non-transmitted wavelengths may be filtered.

The dichroic filter 130 may have an angle-dependent transmission spectrum. The transmittance of the dichroic filter 130 may depend on the angle of incidence at which the incident light beam 120 collides with the dichroic filter 130. For example, the transmittance may depend on the angle of incidence at which the incident light beam 120 propagating from the object 112 toward the detector 110 collides with the dichroic filter 130. The angle of incidence may be measured with respect to the optical axis 132 of the dichroic filter 130. The dichroic filter 130 may be placed in the propagation direction after at least one transfer device 126. The transfer device 126 may increase the angle dependence of the distance dependence. The dichroic filter 130 and the transfer device 126 may be arranged so that the light beam 120 propagating from the object 112 to the detector 110 passes through the transfer device 126 before colliding with the dichroic filter 130. The dichroic filter 130 may be arranged such that the light beam 120 propagating from the object 112 to the detector 110 collides with the dichroic filter 130 between the transfer device 126 and the focal point of the transfer device 126. The dichroic filter 130 may be designed to weaken the light rays that collide at a larger angle than the light rays that collide at a smaller angle. For example, the transmittance may be highest for rays parallel to the optical axis 132, i.e. 0 °, and may decrease for higher angles. In particular, at at least one cutoff angle, the transmittance may drop sharply to zero. Therefore, light rays with a large angle of incidence can be cut off.

For example, the dichroic filter 130 allows the light beam 120 to pass when the light beam 120 collides with the dichroic filter 130 under a transmission angle or transmission range, and light when the light beam 120 collides at an incident angle deviating from it. It may have a transmission spectrum such that the beam 120 is filtered. For example, if the light beam 120 collides substantially parallel to the optical axis 132 of the dichroic filter 130, the light beam 120 can pass through the dichroic filter 130, and if the light beam 230 collides under a deviating incident angle. , The light beam 120 may be filtered.

The transmission spectrum of the dichroic filter 130 is wavelength-dependent and angle-dependent. For example, the transmission spectrum may allow the light beam having the first wavelength to pass when the light beam having the first wavelength collides substantially parallel to the optical axis 132 of the dichroic filter 130, while the second. If the light beam having a wavelength collides at a larger angle, for example 30 °, the light beam having a second wavelength may be selected so that it may pass through the dichroic filter 130. The transfer device 126 and the dichroic filter 130 may be arranged so that the light beam 120 propagating from the object 112 to the detector 110 passes through the transfer device 126 before colliding with the dichroic filter 130. For example, for an object 112 (also called near field) near the focal point of the transfer device, the light beam behind the transfer device is almost parallel to the optical axis and the first transmission spectrum is applied to the light beam by the dichroic filter 130. For example, the first wavelength may pass through, while the second wavelength may be mostly filtered. For example, for a distant object 112 (also called a distant field), the light beam reaches the transfer device 126 substantially parallel to the optical axis 128 and is focused towards the focal point behind the transfer device 126. Thus, these light beams may have a larger angle with respect to the optical axis 132 of the dichroic filter 130, and different transmission spectra may be applied to the light beam in the dichroic filter, eg, the second wavelength. It can pass, but the first wavelength can be mostly filtered. In FIG. 1, as mentioned above, the object 112 is shown at two different distances. Further, the two light beams 120 generated in response to the irradiation of the object 112 and / or generated by the beacon device 118 so as to reach the transfer device 126 and the dichroic filter 130 at different angles depending on the distance. It is shown.

FIG. 2 shows an exemplary transmission spectrum, in particular the transmittance T (unit%) as a function of the wavelength λ (unit: nm) of the dichroic filter 130. The transmission spectrum is selected so that when the light beam is parallel to the optical axis, the first wavelength, eg red, passes through, while the second wavelength, eg blue, passes at a larger angle, such as 30 °. good. For example, for an object 112 (also called near field) near the focal point of the transfer device 126, the light beam behind the transfer device 126 is almost parallel to the optical axis 128 and is shown in FIG. 2 as the first transmission spectrum, especially the solid line. The 0 ° transmittance shown is applied to the light beam 120 with a dichroic filter 130, eg, the first wavelength can pass through, while the second wavelength can be mostly filtered. For example, for a distant object 112 (also called a distant field), the light beam reaches the transfer device 126 substantially parallel to the optical axis 128 of the transfer device 126 and focuses towards the focal point behind the transfer device 126. Will be done. Therefore, these light beams 120 may have a larger angle with respect to the optical axis 132 of the dichroic filter 130, with different transmission spectra, particularly the 30 ° transmittance shown in FIG. 2 as a broken line, in the dichroic filter 130. Applied to the light beam 120, for example, the second wavelength can pass, while the first wavelength can be mostly filtered.

As shown in FIG. 1, the detector 110 has a first sensor signal generated in response to irradiation by a light beam 120 having at least one first wavelength and a light beam 120 having at least one second wavelength. It has at least one evaluation device 134 configured to determine with a second sensor signal generated in response to irradiation by. The evaluation device 134 is configured to determine at least one longitudinal coordinate z of the object 112 by evaluating the coupling signals Λ from the first and second sensor signals. The light beam 120 having the first wavelength and the second wavelength may be generated or pulsed at different frequencies and / or subsequently generated and / or modulated at different modulation frequencies. The coupling signal Λ is, in particular, dividing the first and second sensor signals, dividing a multiple of the first and second sensor signals, or dividing by coupling the first and second sensor signals. It may be generated by one or more of dividing the linear coupling of the first and second sensor signals. In particular, the coupling signal Λ may be a quotient signal. The coupling signal Λ may be determined using various means. As an example, software means for deriving the coupled signal, hardware means for deriving the coupled signal, or both may be used and may be implemented in an evaluation device. Thus, as an example, the evaluator 134 may include at least one divider, which is configured to derive a quotient signal. The divider may be fully or partially embodied as one or both of a software divider and a hardware divider. The evaluation device 134 divides the first and second sensor signals, divides the multiples of the first and second sensor signals, and divides the linear coupling of the first and second sensor signals. One or more of the above may be configured to derive the coupling signal Λ. The evaluation device 134 may be configured to determine the first radiation intensity of the first sensor signal and the second radiation intensity of the second sensor signal. The evaluator 134 may be configured to determine the ratio of the first radiant intensity to the second radiant intensity in order to derive the coupling signal Λ. Other coupled or quotient signals, such as normalized radiant intensity ratios, are feasible. Thus, the relationship between at least two wavelengths that have passed through the dichroic filter 132 depends on the distance between the object 112 and the optical sensor 114. Only a single optical sensor 114 is needed. The detector 110 may have a plurality of optical sensors such as a bicell partial diode, a split electrode PSD or quadrant diode, and / or a CMOS sensor. In this case, in order to determine the coupling signal Λ, the evaluator 134 may determine the perfect light spot on the optical sensor 114, such as the sum signal of the signals of the optical sensor 114. Alternatively, to determine the coupling signal Λ, the evaluator 134 may use the first and second sensor signals generated by the same sensor region.

The determination of the longitudinal coordinate z using the coupling signal Λ may be combined with additional distance measurement techniques such as depth from photon ratio, flight time, triangulation, and one or more techniques based on depth from defocus. .. Specifically, the determination of the vertical coordinate z using the coupling signal Λ may be combined with a non-wavelength-dependent distance measurement technique. For example, the determination of the longitudinal coordinate z using the coupling signal Λ is a distance using depth technology (DPR) from the photon ratio, as described, for example, in WO2018 / 091649A1, WO2018 / 091638A1 and WO2018 / 091640A1. It may be combined with the measurement and its contents are included by reference.

The evaluation device 134 may be configured to determine the first radiation intensity of the first sensor signal and the second radiation intensity of the second sensor signal. The evaluation device 134 may be configured to determine the ratio of the first radiant intensity to the second radiant intensity in order to derive the coupling signal Λ. The evaluation device 134 may be configured to determine the ratio _{of the first radiation intensity I red} to the second radiation intensity I _blue in order to derive the coupling signal Λ. 3 and 4 show the experimental results obtained using the detector configuration of FIG. As the irradiation source 122, an LED available under VLMRGB343 manufactured by Vishay Semiconductors was used, and as an optical sensor 114, a Si cell available under FDS1010 manufactured by Thorlabs was used. The LED used is composed of three semiconductor chips capable of simultaneously emitting wavelengths of 625 nm, 525 nm and 470 nm. In the experiment, only two chips, 625 nm and 470 nm, were driven by an electronic driver circuit. Electronic driver circuits may be adapted to drive both chips at different modulation frequencies such as 3331Hz and 5557Hz, respectively. A recording analog front end can be used to distinguish between the two color signal intensities of the Si cell. Obtained as a transfer device 126 under Thorlabs AL2520 with a numerical aperture of 0.543 and a focal length of 20 mm resulting in a maximum incident angle of 33 ° on a dichroic filter 130 having a transmission spectrum as shown in FIG. A possible aspherical lens FD1M was used. FIG. 3 shows Si cells for blue and red radiation as a function of different distances of object 112 for different working voltages of LEDs, ie 4V (solid line), 4.5V (dotted line), and 5V (dashed line). _{The normalization ratio I red} / I _blue of the signal strength from is shown. As the operating voltage increases, the drive current increases, resulting in an increase in the radiant intensity of the LED. Determining the ratio eliminates dependence on radiant intensity such as power changes, dirt, and reduced battery power. Thus, the ratio curves for the different voltages match very well. The measurement system can be calibrated by fitting the ratio curve shown in FIG. 3 with a polynomial function. FIG. 4 shows _{the measured distance z meas} as a function of the _{real distance z real} with different drive voltages 4V (solid line), 4.5V (dotted line), and 5V (dashed line). FIG. 4 shows that the detector configuration described enables highly reliable distance measurement. If the voltage is low and therefore the radiation intensity is low, noise can be observed at the end of the measurement range.

FIG. 5 is a very schematic illustration showing an exemplary embodiment of the detector 110, eg, an example according to the embodiment shown in FIG. The detector 110 may be specifically embodied as a camera 136 and / or may be embodied as part of a camera 136. The camera 136 may be made for imaging, specifically for 3D imaging, and may be made for acquiring image sequences such as still images and / or digital video clips. Other embodiments are feasible.

FIG. 5 further shows an embodiment of a detector system 138, wherein the detector system 138 has one or more beacon devices 118 in addition to at least one detector 110, wherein the beacon device 118 has one or more beacon devices 118. In this example, it may be attached to and / or integrated with the object 112 and its position is detected using the detector 110. FIG. 5 further shows an exemplary embodiment of a human machine interface 140 with at least one detector system 138, as well as an entertainment device 142 with the human machine interface 140. The figure further shows an embodiment of a tracking system 144 for tracking the position of an object 112, which has a detector system 138. Hereinafter, the components and the system of the apparatus will be described in more detail.

FIG. 5 further shows an exemplary embodiment of a scanning system 146 for scanning a scene including an object 112, such as for scanning an object 112 and determining at least one position of at least one object 112. The scanning system 146 includes at least one detector 110 and optionally at least one source 122, as well as optionally at least one additional source 122. The irradiation source 122 generally emits at least one dot, for example, a dot located at one or more positions of the beacon device 118, and / or a dot located on the surface of the object 112. It is configured to emit an irradiation light beam. The scanning system 146 may be designed to generate a profile of the scene including the object 112 and / or a profile of the object 112 using at least one detector 110 and / or scan with the at least one dot. It may be designed to generate at least one item of information about the distance to the system 146, specifically the detector 110.

As mentioned above, an exemplary embodiment of the detector 110 that may be used in the configuration of FIG. 5 is shown in FIG. Thus, in addition to the optical sensor 114, the detector 110 has, for example, at least one divider 148 and / or at least one position evaluation device 150, as symbolically shown in FIG. Includes one evaluation device 134. The components of the evaluator 134 may be integrated into a completely or partially separate device and / or may be completely or partially integrated into the other components of the detector 110. In addition to the possibility of fully or partially coupling one or more components, one or more components of the photosensor 114 and the evaluator 134 are symbolically shown in FIG. They may be interconnected by one or more connectors 152 and / or one or more interfaces. Further, the one or more connectors 152 may have one or more drivers and / or one or more devices for modifying or preprocessing sensor signals. Further, instead of using at least one optional connector 152, the evaluator 134 may be fully or partially integrated into the optical sensor 114 and / or into the housing 154 of the detector 110. Additional or alternative, the evaluator 134 may be designed as a completely or partially separate device.

In this exemplary embodiment, the position-detectable object 112 may be designed as an article in sports equipment and / or forms a control element or control device 156 whose position can be manipulated by the user 158. May be good. As an example, the object 112 may be, and may include, a bat, a racket, a club, or any other article of sports equipment, and / or pseudo-sports equipment. Other types of objects 112 are also possible. Further, the user 158 whose position is detected may be considered as the object 112.

The light sensor 114 may be located within the housing 154 of the detector 110. Further, the at least one transfer device 126 is preferably composed of one or more optical systems having one or more lenses. The openings 160 in the housing 154 are preferably arranged concentrically with respect to the optical axis 124 of the detector 110, but preferably define the viewing direction 162 of the detector 110. Coordinate system 164 may be defined in which the direction parallel or antiparallel to the optical axis 124 may be defined as the vertical direction and the direction perpendicular to the optical axis 124 may be defined as the horizontal direction. In the coordinate system 164 symbolically shown in FIG. 5, the vertical direction is indicated by z, and the horizontal direction is indicated by x and y, respectively. Other types of coordinate systems 164, such as non-Cartesian coordinate systems, are feasible.

The detector 110 may optionally have additional photosensors in addition to the photosensor 114. The optical sensor 114 may be arranged in the same beam path, for example, back and forth. However, alternative beam paths may be possible. The branched beam path is one or more, such as by branching the beam path for at least one lateral detector or lateral sensor to determine the lateral coordinates of the object 112 and / or its portion. Additional beam paths may have additional light sensors. However, instead, the plurality of optical sensors 114 may be arranged at the same longitudinal coordinates.

One or more light beams 120 propagate from the object 112 and / or from the one or more beacon devices 118 toward the detector 110. The detector 110 is configured to determine the position of at least one object 112. For this purpose, as described above in connection with the figure, the evaluator 134 is configured to evaluate the sensor signal provided by the optical sensor 114. The detector 110 is adapted to determine the position of the object 112 and the photosensor 114 is integrated to detect the light beam 120. If the source 122 is not used, the beacon device 118 and / or at least one of these beacon devices 118 may be an active beacon device with an integrated source such as a light emitting diode, or it. May include. When the irradiation source 122 is used, the beacon device 118 does not necessarily have to be an active beacon device. Conversely, an integrated reflective beacon device 118 having at least one reflective surface of the object 112, such as a mirror, a retroreflector, a reflective film, etc., may be used. The light beam 120 collides with the dichroic filter 130, passes through the dichroic filter 130, and / or after being modified by the transfer device 126, such as directly and / or being focused by one or more lenses. It is filtered by the dichroic filter 130. The light beam that has passed through the dichroic filter 130 illuminates the photosensitive area 121 of the light sensor 114. For details of the evaluation, refer to FIG. 1 above.

As outlined above, the determination of the position of the object 112 and / or a portion thereof by using the detector 110 is to provide the human machine interface 140 to provide the machine 166 with at least one information item. May be used for. In the embodiment schematically shown in FIG. 5, the machine 166 may be a computer and / or may have a computer. Other embodiments are feasible. The evaluator 134 may be fully or partially integrated into the machine 166, such as in a computer.

As outlined above, FIG. 5 also shows an example of a tracking system 144 configured to track the location of at least one object 112 and / or parts thereof. The tracking system 144 includes a detector 110 and at least one tracking controller 168. The tracking controller 168 may be adapted to track a series of positions of the object 112 at a particular point in time. The tracking controller 168 may be an independent device and / or, as shown in FIG. 5, to the machine 166, specifically to the computer, and / or to the evaluator 134, completely or partially. May be integrated.

Similarly, as described above, the human machine interface 140 may form part of the entertainment device 142. The machine 166, specifically the computer, may also form part of the entertainment device 142. Thus, by the user 158 acting as the object 112 and / or the user 158 operating the control device 156 acting as the object 112, the user 158 puts at least one information item, such as at least one control command, into the computer. You may change the entertainment function, such as inputting and thereby controlling the course of the computer game.

110 Detector 112 Object 114 Optical Sensor 116 Photosensitive Area 118 Beacon Device 120 Optical Beam 122 Irradiation Source 124 Optical Axis 126 Transfer Device 128 Optical Axis 130 Dicroic Filter 132 Optical Axis 134 Evaluation Device 136 Camera 138 Detector System 140 Human Machine Interface 142 Entertainment Device 144 Tracking System 146 Scanning System 148 Divider 150 Position Evaluation Device 152 Connector 154 Housing 156 Control Device 158 User 160 Opening 162 View Direction 164 Coordinate System 166 Machine 168 Tracking Controller

Claims (15)

A detector (110) for determining the position of at least one object (112).
-With at least one dichroic filter;
-At least one optical sensor (114), wherein the optical sensor (114) has at least one photosensitive area (116), and the optical sensor (114) is light that has passed through the dichroic filter (130). With at least one optical sensor (114) designed to generate at least one sensor signal in response to irradiation of its photosensitive area (116) by the beam (120);
-In response to the first sensor signal generated in response to irradiation by the light beam (120) having at least one first wavelength and irradiation by the light beam (120) having at least one second wavelength. At least one evaluation device (134) configured to determine the second sensor signal generated, said by evaluating the coupled signals Λ from the first and second sensor signals. A detector (110) having an evaluator (134) configured to determine at least one longitudinal coordinate z of an object. The dichroic filter (130) has wavelength-dependent and angle-dependent transmission spectra, and the dichroic filter (130) is from 5 nm / 30 ° to 100 nm / 30 °, preferably 7 nm / 30 ° to 80 nm /. The detector (110) according to claim 1, which has an angle dependence of up to 30 °, more preferably from 9 nm / 30 ° to 50 nm / 30 °. The detector (110) further comprises an irradiation source (122) configured to irradiate the object (112) with at least one light beam having at least two different wavelengths, claim 1 or 2. Detector (110). The detector (110) is at least one transfer device having at least one focal length in response to at least one incident light beam (120) propagating from the object (112) to the detector (110). 126) The detector (110) according to any one of claims 1 to 3. The evaluation device (134) is configured to use at least one predetermined relationship between the coupling signal Λ and the longitudinal coordinates to determine the longitudinal coordinates. The detector (110) according to any one of 4 to 4. The evaluation device (134) divides the first and second sensor signals, divides a multiple of the first and second sensor signals, and linearly couples the first and second sensor signals. The detector (110) according to any one of claims 1 to 5, wherein the coupling signal Λ is configured to be derived by one or more of divisions. The evaluation device (134) is configured to determine the first radiant intensity of the first sensor signal and the second radiant intensity of the second sensor signal, and the evaluation device derives the combined signal Λ. The detector (110) according to any one of claims 1 to 6, which is configured to determine the ratio of the first radiant intensity to the second radiant intensity. The detector (110) has at least two optical sensors (114), the optical sensor (114) is any of claims 1-7, which is a bicelle, a split electrode PSD or a partial diode of a quadrant diode. The detector (110) according to item 1. The detector according to any one of claims 1 to 8, wherein the detector (110) has at least two optical sensors (114), and the optical sensor (114) has at least one CMOS sensor. (110). The detector (110) has at least two optical sensors (114), each of the optical sensors (114) has at least one photosensitive area (116), and each of the optical sensors (114). Is designed to generate at least one sensor signal in response to irradiation of each photosensitive area (116) by the light beam (120) that has passed through the dichroic filter (130). ) Is configured to generate a depth (DPR) sensor signal from the first photon ratio, and at least one of the optical sensors (114) is configured to generate a second DPR sensor signal. The evaluation device (134) is configured to determine _{the longitudinal coordinates z DPR} of the object by evaluating the coupled DPR signal Q from the first and second DPR sensor signals. The detector (110) according to any one of claims 1 to 9. The evaluation device (134) is based on the following mathematical formula 1.

Is configured to derive the coupled DPR signal Q by
Here, x and y are lateral coordinates, and A1 is the first area of the beam profile at the sensor position of the optical sensor (114) of the optical beam (120) that has passed through the dichroic filter (130). A2 is the second area of the beam profile at the sensor position of the optical sensor (114) of the optical beam (120) that has passed through the dichroic filter (130), and E (x, y, z _o ) is the object distance z. _The detector (110) according to any one of claims 8 to 10, indicating the beam profile given in o. The first DPR sensor signal includes information in the first area of the beam profile, the second DPR sensor signal contains information in the second area of the beam profile, and the first area of the beam profile. And the detector (110) of claim 11, wherein the second area of the beam profile is one or both of adjacent or overlapping areas. One of the first area and the second area has substantial edge information of the beam profile, and the other of the first area and the second area has substantial center information of the beam profile. The evaluation device divides the edge information and the center information, divides the edge information and a multiple of the center information, and divides the linear combination of the edge information and the center information. The detector (110) according to claim 11 or 12, which is configured to derive the combined signal Q by one or more. A method for determining the position of at least one object (112), the following steps:
-Step to provide at least one dichroic filter (130);
—A step of providing at least one optical sensor (114), wherein the optical sensor (114) has at least one photosensitive area (116), wherein the optical sensor (114) is the dichroic filter (130). ) Is designed to generate at least one sensor signal in response to irradiation of its photosensitive area (116) by a light beam (120) that has passed through.
-A step of irradiating the photosensitive area (116) of the optical sensor (114) with the optical beam (120) that has passed through the dichroic filter (130), whereby at least one photosensitive area (116) is provided. Generate a sensor signal; and-a first sensor signal generated in response to irradiation by the light beam (120) having at least one first wavelength and the light beam having at least one second wavelength ( A step of determining a second sensor signal generated in response to irradiation by 120);
-A step of evaluating the first sensor signal and the second sensor signal, thereby determining at least one longitudinal coordinate z of the object, where the evaluation is the first sensor signal and said. Including deriving the coupling signal Λ of the second sensor signal,
How to have. The use of the detector (110) according to any one of claims 1 to 13 with reference to the detector, wherein position measurement in traffic technology; entertainment use; optical data storage use; security use; monitoring use; safety use. Human machine interface applications; Logistics applications; Endoscopic applications; Medical applications; Tracking applications; Photographic applications; Machine vision applications; Robot applications; Quality control applications; 3D printing applications; Augmented reality applications; Manufacturing applications; Optical data storage and readout Use in combination with; use of the detector (110) for a purpose of use selected from the group consisting of.

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